Millbrae features a moderately walkable environment, particularly in its downtown area, which has a pedestrian-friendly layout with small-scale establishments and accessible streets. While some errands can be completed on foot, the overall walkability of the city may vary depending on the specific neighborhood. The mild climate generally makes walking pleasant, but distances between certain destinations may require additional transportation options. Sidewalks and pedestrian infrastructure are present in many areas, though they may not be uniformly extensive throughout the city. Walking can be a convenient option for shorter trips or exploring the central parts of Millbrae.

Cycling in Millbrae is supported by some biking infrastructure, including bike lanes and paths, which can make it a practical option for getting around certain areas. The city’s relatively compact layout allows for shorter distances between destinations, which is helpful for cyclists. However, the hilly terrain in some parts of Millbrae may pose challenges for riders, especially those less experienced. The weather is generally mild, which supports comfortable biking conditions.

Public transportation in Millbrae is a convenient option for getting around, thanks to an intermodal station that connects Bay Area Rapid Transit (BART) and Caltrain, providing access to nearby cities and regional destinations. This infrastructure supports efficient travel for commuters and visitors alike. Public buses also operate in the area, offering additional connectivity. The compact layout of Millbrae makes many destinations accessible, and the availability of transit options reduces the need for driving. Public transit is a reliable way to navigate the city and its surroundings.