Lichfield is a compact and pedestrian-friendly city, making walking an excellent way to explore its historic charm. Many key attractions, such as the iconic cathedral and surrounding green spaces, are centrally located and easily accessible on foot. The city benefits from well-maintained pavements and a layout that encourages walking, with minimal traffic in certain areas. Additionally, the relatively mild climate in the region supports outdoor exploration for much of the year. However, some areas may involve moderate distances, so comfortable footwear is recommended for longer strolls.

Cycling in Lichfield is a practical option for navigating both its urban and rural settings. The city has some cycling infrastructure, including bike racks and designated paths, which can make navigating certain areas easier. The relatively compact layout of the city allows for convenient access to key destinations by bike. However, some routes may involve sharing roads with vehicles, so caution is advised. The terrain is generally manageable, though there may be occasional inclines. Weather conditions can vary, so riders should prepare for rain or wind, which may affect comfort and safety.

Public transportation in Lichfield is primarily centered around buses and trains, offering a network that connects key areas within the city and nearby towns. The bus services make it possible to reach many destinations without a car, while the train station provides additional connectivity to regional and national locations. While the infrastructure supports public transit, the frequency and availability of services may vary depending on the time and specific routes. Public transit can be a practical choice for getting around, especially for those traveling shorter distances or to well-served areas.