Strolling Through Europe: Best Cities for Exploring on Foot

By The Dinks

Europe boasts numerous walkable cities that blend history, culture, and architectural splendor, inviting exploration on foot.

London entices with iconic landmarks like Big Ben and Buckingham Palace, while Paris captivates with the Eiffel Tower and charming neighborhoods like Montmartre. Florence offers Renaissance treasures such as the Duomo and Uffizi Gallery, while Venice enchants with its canals and Byzantine architecture. Barcelona’s vibrant streets lead to Gaudí’s masterpieces, while Edinburgh’s medieval alleys and castles evoke a sense of history. Vienna’s grandeur unfolds along the Ringstraße, Schönbrunn Palace, and coffeehouses, offering a blend of imperial elegance and cultural richness—all perfect for memorable walks through Europe’s diverse landscapes and urban tapestries.

Whether you create your own or find an organized free tour, here are some of our favorite cities to explore by foot.

Prague, Czech Republic

Wander through the medieval streets of Prague, adorned with Gothic and Baroque architecture. Discover the tales of the Old Town Square, the iconic Charles Bridge, and the historic Prague Castle. A walking tour in Prague is a journey through centuries of history and culture. We love to download Rick Steve’s free audio tours prior to our trip so we can listen to them without internet.

Check out Rick Steve’s Free Audio tour of Prague City Walk

Barcelona, Spain

Explore the vibrant streets of Barcelona, where modernist masterpieces by Antoni Gaudí stand as testaments to the city’s artistic spirit. From the iconic Sagrada Familia to the whimsical Park Güell, a walking tour unveils the architectural wonders that define this Catalan gem. While there are some hills, Barcelona is a very walkable city.

Check out our blog for more details:

Two Different Takes on Barcelona, Spain

Rome, Italy

Roam the ancient streets of Rome, where every corner tells a story. From the grandeur of the Colosseum to the architectural splendor of the Pantheon, a walking tour in Rome is a pilgrimage through the heart of Western civilization.

Check out our full blog on

Two Takes on Rome, Italy: Timeless Wonders Through Different Lenses

Amsterdam, Netherlands:

Amsterdam is famous for its canals, historic buildings, and museums. Walk or bike along the picturesque canals in neighborhoods like Jordaan and De Pijp, visit Anne Frank House, Van Gogh Museum, and take a stroll in Vondelpark. You have to see the city from the water as well.

Check out Rick Steve’s Free Audio tour on Amsterdam City Walk

Vienna, Austria

Vienna, Austria, offers a rich tapestry of grand architecture, historical landmarks, and cultural treasures that make it an ideal city for exploration on foot. From the majestic Schönbrunn Palace and Gardens to the Gothic splendor of St. Stephen’s Cathedral in Stephansplatz, and the elegant Ringstraße lined with iconic buildings like the Vienna State Opera and Hofburg Palace, Vienna’s charm is undeniable. The city also boasts vibrant markets like Naschmarkt, expansive parks such as Prater Park with its famous Ferris wheel, and unique architectural gems like the colorful Hundertwasserhaus. MuseumsQuartier provides a cultural hub, while the Vienna Woods offer a serene escape just outside the bustling city center. Completing the experience are Vienna’s legendary coffeehouses, inviting you to savor local delights like Sachertorte amid a backdrop of imperial elegance and cultural richness.

Check out Rick Steve’s free audio guide to Vienna City Walk

Paris, France:

Experience the romantic ambiance of the French capital by walking along the Seine, exploring neighborhoods like Le Marais, and visiting world-renowned landmarks such as the Eiffel Tower. (Although this is another city we recommend seeing from the water as well. )

Check out more:

Two Different Takes on Paris, France

Edinburgh, Scotland:

Meander through the hishttps://doubletaketravel.com/things-to-do-paris-france/https://doubletaketravel.com/things-to-do-paris-france/toric streets of Edinburghttps://doubletaketravel.com/things-to-do-paris-france/h’s Old Town, ascend Arthur’s Seat for panoramic views, and explore the Royal Mile, where shops, cafes, and street performers create a vibrant tapestry of Scottish culture.

Check out Rick Steve’s Free Audio Tour on the Royal Mile

Venice, Italy:

Navigating Waterways and Bridges: Embark on a journey through Venice’s winding canals, traverse countless bridges, and immerse yourself in the unique atmosphere of this charming city—all without the need for cars. Venice is a pedestrian’s paradise, inviting you to explore its enchanting beauty on foot. This one was a little different as the guide is actually set to the public riverboat that takes you through the canal starting at the train station.

To learn more listen to Rick Steve’s free Grand Canal Audio tour

Lisbon, Portugal:

Lisbon’s hilly terrain offers rewarding walks with stunning views. Explore the Alfama district’s labyrinthine streets, visit Belém Tower and Jerónimos Monastery, ride Tram 28 through historic neighborhoods, and enjoy the vibrant nightlife in Bairro Alto.

Check out Lisbon City Walk a free Audio Tour from Rick Steve’s.

London, England:

London is a fantastic city for walking, with its iconic landmarks like Big Ben, the Houses of Parliament, Buckingham Palace, and the River Thames. Stroll through Hyde Park, explore the vibrant neighborhoods of Soho and Covent Garden, and wander along the South Bank for stunning views of the city skyline.

Two Different Takes: London, England

Florence, Italy:

Florence’s historic center is compact and perfect for walking. Discover Renaissance architecture and art at the Duomo, Uffizi Gallery, and Ponte Vecchio. Wander through the narrow streets (like Via dei Calzaiuoli), visit the Boboli Gardens, and enjoy the views from Piazzale Michelangelo.

Check out Rick Steve’s free Audio tour to Renaissance Florence

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Strolling Through Europe: The Best Cities for Exploring on Foot