Walking is a convenient way to explore parts of Mill Valley, particularly in its compact downtown area, where local businesses and amenities are clustered within close proximity. The town features pedestrian-friendly infrastructure, including sidewalks and crosswalks, making it easy to navigate on foot. However, Mill Valley’s hilly topography and some residential areas located farther from the center may pose challenges for longer walks. The mild weather typical of the region generally supports comfortable walking conditions, but the terrain and distances to certain destinations might make walking less practical in some cases.

Cycling around Mill Valley is made enjoyable by its established bike paths and scenic routes. The Mill Valley-Sausalito Path is a popular option, offering a safe and accessible route for cyclists. The area’s compact layout makes many destinations reachable by bike, though some routes may include hills that could be challenging for less experienced riders. The city has infrastructure in place to support biking, and the mild weather generally provides comfortable conditions for cycling.

Bus services, such as those provided by Marin Transit and Golden Gate Transit, form the backbone of public transit in Mill Valley. These buses connect Mill Valley to nearby areas like San Rafael, Sausalito, and San Francisco. While the town’s hilly terrain and spread-out layout may make walking to bus stops challenging in some areas, the availability of park-and-ride locations can help. Public transit is a practical option for reaching nearby cities, but local travel within Mill Valley may require additional planning due to limited transit coverage.

While Mill Valley does not have direct ferry services, nearby terminals in Sausalito or Larkspur provide access to scenic routes across the San Francisco Bay. These ferries typically accommodate pedestrians, bicycles, and sometimes vehicles, offering flexibility for travelers. Sailings are frequent during peak hours, with travel times to key destinations like San Francisco generally ranging from 30 to 45 minutes. While ferries are a pleasant way to travel, reaching the terminals from Mill Valley may require additional transit or driving, as the town lacks direct ferry infrastructure.