The escalating challenges posed by urbanization and increased private car usage which result in environmental degradation and congestion have emphasized the critical need for sustainable urban mobility systems. There is a growing imperative to embrace eco-friendly alternatives, among which is autonomous urban transit. The penetration of the new systems in the travel market raises safety issues. This study addresses the issue of safety, as perceived by the travelers, and correlates it with the acceptance for using the various autonomous public transport modes. The research work involves a questionnaire survey which was used to collect knowledge, attitudes, intentions, and behaviors of travelers in regard to the safety related aspects of autonomous transportation. Participants’ perceptions were collected separately for metro, bus/trolley, tram, and urban rail, so as to identify possible differences owing to the operational characteristics of the alternative modes. Specific safety components of the respective autonomous vehicles were considered, which revealed the users’ preferences and in parallel the means for achieving higher acceptance, comfort, and market penetration, in using the new systems.