Since it’s the fifth largest state, the simplest way to travel through New Mexico is usually by car. However, once you’re in these 12 cities and towns, it’s easy to explore on foot. Follow an established walking tour past historical buildings, or ditch the map and wander down whatever gallery-lined alley strikes your fancy. When available, I’ve included links to free walking tours; if you’d prefer something more organized, consider signing up for a guided walking tour.

1. Taos

The plaza is often the best place to begin a walking tour. That’s certainly the case with Taos. Discover this town’s history by strolling between locations like the Governor Bent House, Taos Inn, and Kit Carson home.

2. Mesilla

Mesilla is also centered around a lovely Plaza, the highlight of which is the Basilica of San Albino. The Mesilla Historic District is a National Landmark and, in addition to admiring the old and beautiful buildings, walking through here allows you to do a little shopping and stop for a meal at some incredible restaurants.

3. Aztec

After you’ve visited Aztec Ruins National Monument, drive (or walk the 1.6 miles) to the start of this walking tour. It guides you through the significant buildings in town, constructed in the early 1900s, mostly along the well-preserved Main Avenue.

4. Las Vegas

See the historic highlights of Las Vegas on any of these walking tours through the different sections of the city. Bridge Street and the Plaza are particularly scenic and Railroad Avenue is another interesting area. (Pictured: La Castaneda Hotel on Railroad Avenue.)

5. Gallup

Gallup’s walking tour is unique and fun. A little over a decade ago, the city funded the creation of nine murals in downtown Gallup that can easily be viewed on this walking tour.

6. Socorro

Three walking tours of the different sections of Socorro are available here.

Highlights include the San Miguel Church and the Garcia Opera House.

7. Santa Fe

New Mexico’s capital city is well suited to walking and you can reach many major attractions on foot. Meander along the galleries of Canyon Road, gaze at the stunning architecture near the Plaza, or see for yourself why the staircase in the Loretto Chapel is so miraculous.

8. Artesia

This map

helps you to identify the most interesting buildings (mostly along West Main Street) in downtown Artesia. The tour features some of Artesia’s History in Bronze monuments, which are scattered throughout town: the First Lady of Artesia and the three cattle drive sculptures called The Trail Boss, The Vaquero, and The Rustler.

9. Albuquerque

Several parts of Albuquerque are best discovered on foot. The obvious one is the Plaza in Old Town, because the narrow one-way streets there are more pedestrian-friendly than car-friendly. This

itinerary connects Civic Plaza Downtown with the Old Town Plaza. Nob Hill, with its hipster meets Route 66 vibe, is another neighborhood that lends itself to walking tours. Map here.

10. Hillsboro

While it’s best to use a vehicle to reach Hillsboro, once you’re there, get out and stretch your legs with this

historic tour of the town. (Pictured: The Crews House.)

11. Los Alamos

If ever there were a city with a unique and intriguing history, it’s Los Alamos. This

walking tour covers Bathrub Row and the Bradbury Science Museum.

12. Cimarron

When the West was wild, it was a whole bunch wilder in Cimarron than in most other places. That makes the town’s history especially fascinating. Step back into the past with this tour. (Pictured: Schwenk’s Hall, which was a saloon and gambling house back in the day.)

Do you like to explore cities on foot?

If you enjoy walking, you may also be interested in these 12 short hikes in New Mexico.