Physical activity is connected to public health in many ways, and walking is its most popular form. Modern planning models have been applied to cities to manage rapid urban expansions. However, this practice has led to low level of walkability and strong car-dependency in today’s cities. Hence, this study aims to provide a review of the most promising urban design parameters affecting walkability, using Frank Lawrence’s theory of “Objectively Measured Urban Form” (density, connectivity and accessibility, and mixed-use development) as the basis of discussion. The second part of this paper takes a case study approach, through discussing the main design elements of traditional Iranian cities (mosques, bazaars, residential quarters, and alleyways) and analyses their impacts on promoting walkability. This study concludes that incorporating inherent values of traditional urban design elements will complement modern planning and design practices.