Waukesha offers a mix of walkable areas, particularly in its downtown district, where sidewalks and pedestrian-friendly infrastructure make it convenient to explore shops, restaurants, and local attractions on foot. However, walking may be less practical in suburban or outlying areas due to greater distances between destinations and limited pedestrian pathways. Seasonal weather, including cold winters and occasional snow, can also impact walking conditions. While walking is a pleasant option in certain parts of the city, it may not always be the most efficient way to navigate the broader area.

Biking can be a practical way to get around, especially for shorter trips. The city features some bike lanes, paths, and trails that connect various areas, making it possible to navigate parts of the region by bicycle. However, the overall infrastructure may not be fully comprehensive, which could limit access to certain destinations. The terrain in Waukesha includes some hills, which might add to the challenge for some riders. Weather conditions, particularly during colder months, may also impact biking comfort and safety.

O Waukesha Metro Transit oferece serviço de ônibus por toda a cidade e faz a conexão com algumas regiões próximas. O sistema opera a partir de um centro de transporte público no centro de Waukesha e oferece vários trajetos, incluindo conexões com ônibus do Sistema de Transporte do Condado de Milwaukee. O transporte público pode ser uma opção prática para se locomover, especialmente para quem viaja para destinos comuns. No entanto, a disponibilidade de trajetos e horários pode exigir planejamento com antecedência. A infraestrutura da cidade permite viagens de ônibus, mas fatores como distância entre paradas ou condições climáticas podem influenciar a conveniência do uso do transporte público.