I may be biased but I like Edinburgh as it's a small city so you can walk everywhere and there are streets where no cars are allowed. It is a bit hilly that's it's downside and has some cobbled streets but I like them.

Paris is quite good if you have a metro pass you can get all over the city quickly.

Rome.

Actually, a lot of European cities are very pedestrian-friendly.  But I picked Rome because of the saying "all roads lead to Rome."

On the contrary, I would say Dubai is the most pedestrian unfriendly city ~  ^_^

I think netherlands is the walkable city , cause  there  are many bicycles , many pavements and it's  a nice and clean environment .

"Milwalkie", Wisconsin.

So many great cities.  I agree that Rome is quite walkable, as is Edinburgh.  Unfortunately not many cities in the US are walkable.