Royal Oak is a pedestrian-friendly city with a compact and accessible downtown area that makes walking a practical way to get around. Many attractions, restaurants, and shops are located within close proximity, allowing for easy exploration on foot. The city features sidewalks and crosswalks that support safe pedestrian movement. However, weather conditions, particularly in winter, may occasionally impact the comfort of walking. Overall, the infrastructure and layout of Royal Oak make it convenient for short trips and errands without the need for a vehicle.

Biking in Royal Oak is supported by some bike-friendly features, including bike lanes and shared road markings in certain areas, making it possible to navigate parts of the city by bicycle. Many destinations are within a reasonable distance for biking, especially in the downtown area. However, the availability of dedicated bike infrastructure may vary depending on the route, and riders should be mindful of traffic conditions. The relatively flat terrain can make biking more accessible, though riders should plan routes carefully to ensure safety and convenience.

Public transit in Royal Oak is primarily served by the SMART bus system, which connects the city to other parts of southeastern Michigan. Several crosstown routes make it possible to access key areas, and the city features a staffed ticket office for convenience. Public buses are a practical option for getting around, especially for those traveling to nearby destinations. However, factors like walking distances to bus stops and weather conditions during colder months may influence the ease of using this mode of transportation.