Harpenden is a compact town with a layout that makes walking a practical and enjoyable way to get around. Many key areas, including the town center, parks, and local amenities, are within a reasonable walking distance. The town benefits from well-maintained paths and pedestrian-friendly routes, such as the Nickey Line, which offers a scenic walking experience. The relatively mild climate in the region supports walking as a year-round option, though occasional rain may require preparation. Overall, the infrastructure and manageable distances make walking a convenient choice for exploring Harpenden.

Cycling in Harpenden offers a mix of opportunities with some infrastructure in place to support biking as a mode of transport. The town is part of Route 61 of the National Cycle Network, providing connections to nearby areas. While the terrain is generally manageable for most riders, the availability of dedicated bike paths and parking facilities can vary. Cycling can be a practical way to navigate the town, especially for shorter distances, but factors like road sharing with vehicles and specific infrastructure limitations may influence its convenience.

Os transportes públicos em Harpenden oferecem opções que podem tornar as deslocações convenientes para determinadas viagens. A cidade é servida por rotas de autocarro que a ligam a áreas próximas e os serviços de comboios fornecem acesso a cidades maiores. A infraestrutura de transportes públicos suporta viagens locais e regionais, embora a disponibilidade e a frequência dos serviços possam variar, dependendo da hora e do destino. Em geral, é possível caminhar até às paragens de transportes devido à disposição reduzida da cidade. No entanto, os viajantes devem ter em consideração o potencial impacto das condições meteorológicas no tempo de espera ou na transferência entre serviços.