Visiting a walkable city in the United States offers a lot of benefits for travelers who want to explore different attractions, enjoy the local culture, stay healthy, and especially save some money. Not to mention, you’ll be doing the environment a favor by reducing your carbon footprint.

These 10 cities — selected by a panel of travel experts and voted by readers as the best for their walkability during a visit — offer lots of things to do, places to eat, and places to stay, and it’s all connected by pedestrian-friendly streets.