Kennebunkport's core — Dock Square, Ocean Avenue, and the beaches immediately south — is walkable from the centre of town. Cape Porpoise and Goose Rocks Beach require a car or bicycle: both are about 5 km from Dock Square, on roads with variable shoulders.
On foot, the walk from Dock Square south along Ocean Avenue to Walker's Point and back takes about an hour and passes the best of the town's scenery — the harbour, the rocky shore, the Ocean Avenue mansions.
By bicycle, the terrain is gentle and the roads are manageable outside peak summer hours. Several shops in and around Dock Square rent bikes by the half-day or full day. Cape Porpoise Road (Route 9) is the most direct bike route east to the fishing village, with a separated shoulder for much of its length.
By car, parking is the constraint. In July and August, the Dock Square lot fills before 9am on weekends. Peripheral lots on Route 9 west of the bridge have overflow parking; the town runs a shuttle in peak season. Driving between Dock Square and Cape Porpoise takes about 10 minutes.
The Intown Trolley runs a sightseeing loop in summer (late May through October), hitting the main sights including Walker's Point, Goose Rocks Beach, and Cape Porpoise. It's a reasonable way to orient on arrival without navigating the one-way streets and parking.