Most of the cities listed here as the most pedestrian-friendly are older urban areas with vibrant downtowns, historic architecture and closely packed streets that can turn a stroll into an inexpensive and exciting adventure.

Everyone is familiar with some top walking cities, such as New York, Washington, DC, and Chicago. But here are some lesser-known cities and towns…

CAMBRIDGE, MASSACHUSETTS

This historic city, only six square miles in area and the home of Harvard University and the Massachusetts Institute of Technology, lies just across the Charles River from Boston and has been dubbed “Boston’s Left Bank” because it’s full of sidewalk cafés, boutiques, street musicians and other performers, students and professors, the world’s largest concentration of bookstores, and the most parks per square mile in the country. Densely populated with diverse neighborhoods, Cambridge is probably best known for Harvard Square and the University’s historic ivy-covered brick structures. Its narrow streets and small buildings make the old city feel warm and relaxed despite the hubbub.

Can’t-miss feature: A one-hour riverboat cruise on the Charles River for spectacular views of Cambridge, Harvard University, the Charles River locks and Boston locks.

More information: Cambridge Office of Tourism, 617-441-2884, www.cambridge-usa.org.

ANN ARBOR, MICHIGAN

This college town is a remarkably sophisticated small community and its downtown is concentrated in 10 square blocks, with the University of Michigan’s campus in the heart of it. Day and night, the streets, lined with old two or three-story brick buildings, are crowded with pedestrians dropping into the bistros, theaters, galleries, coffee shops and bookstores. There are frequent street festivals and other events. A free hop-on, hop-off circulator bus (which runs August through April) will take you around town, stopping at Ann Arbor’s four major shopping areas and connecting with the campus.

Can’t-miss feature: Zingerman’s Delicatessen, famous for its made-to-order sandwiches and Jewish specialties, such as corned beef and chopped liver.

More information: Ann Arbor Convention & Visitors Bureau, 800-888-9487, www.annarbor.org.

TRENTON

You may be surprised to find New Jersey’s capital, a city known more for tension than tourism, on our list of top walking cities. Despite its earlier reputation for unrest and drugs, it turns out that there’s much to recommend Trenton for a visit today. Trenton has nearly 40 parks, among them the 99-acre Cadwalader Park, designed by Frederick Law Olmsted, renowned for creating New York’s Central Park. Ellarslie, an Italianate villa built in 1845, sits in the middle of it, now housing a collection of art and artifacts related to Trenton history. And passing through one side of the park is a portion of the Delaware & Raritan Canal whose walkable/bikable towpath is gradually being restored.

Trenton’s wide sidewalks, clusters of cultural and retail attractions, and 18th-century buildings in the downtown section also contribute to its foot-friendly ambience.

Trenton has a lot of history. The Battle of Trenton, where George Washington’s troops defeated the Hessians in 1776, was fought here. And Trenton’s 1792 Capitol building, with its restored gold dome and combination gas/electric lights, is the second-oldest capitol in continuous use in the US and is open to visitors every day except Sundays and state holidays. It is a short walk from the New Jersey State Museum, which houses Native American artifacts, ancient fossils and contemporary American art.

Can’t-miss feature: South Riverwalk Park, which offers spectacular views of the Delaware River.

More information: City of Trenton, 609-777-1770, www.trentonnj.org.

CINCINNATI

Located on gentle terrain just across the Ohio River from Kentucky, Cincinnati started out as a supply point for pioneers heading for the West on rafts and flatboats. Today, it is a dynamic commercial metropolis with a compact downtown built into the river valley.

Most of the city’s major hotels, shops and restaurants are clustered within several blocks, all of them only a few minutes’ walk from other foot-friendly neighborhoods. These include Fountain Square, the city’s most popular public gathering place, newly redesigned and surrounded by entertainment and tourist attractions… the Central Riverfront, a mile-long park, the site of sports facilities, concerts, and gardens… and Mount Adams, an arty district with narrow winding streets, spectacular river and city views, and historic architecture. Cincinnati’s sidewalks are wide and shady and the streets are easy to cross.

Can’t-miss feature: The National Underground Railroad Freedom Center on the banks of the Ohio River. Cincinnati was one of the major hubs on the secret road from the South to freedom.

More information: Cincinnati Convention & Visitors Bureau, 800-543-2613, www.cincyusa.com.

HONOLULU

Honolulu is a walker’s paradise because its many distinct neighborhoods can be easily explored without a car. Not only that, but the weather is always temperate and you can comfortably walk around town in shorts and a T-shirt almost any time of year.

Like most visitors, you’ll probably start your explorations in Waikiki, the most famous beach in the world. Stroll on Kalakaua Avenue along Kuhio Beach — the white sand on one side and high-rise hotels, shops and restaurants on the other. Then follow the Waikiki Historic Trail that highlights the island’s history on surfboard-shaped bronze markers. Walk to one end of Waikiki to Diamond Head to ogle the grand homes and watch surfers ride the waves, then hike up to Diamond Head Crater’s observation deck for spectacular views of the ocean and the mountains. At the opposite end of Waikiki Beach is Ala Moana Center, the world’s largest open-air shopping center.

Don’t forget to wander through Honolulu’s Chinatown Historic District, along the walking paths at Kaka’ako Waterfront Park, and through downtown’s bustling streets and memorable history and art museums.

Can’t-miss feature: The USS Arizona Memorial, a 45-minute car ride from the center of the city, where you can tour the structure that spans the sunken battleship commemorating the servicemen who died there on December 7, 1941.

More information: Honolulu Office of Tourism, 800-464-2924, www.gohawaii.com.

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