This study presents the application of a participatory Geodesign methodology to promote walkability and inclusive urban solutions using the historic center of Ouro Preto, Brazil as a pilot case. The research was structured into three stages: (i) initial definitions and selection of a strategic study area marked by pedestrian flows and heritage relevance; (ii) development of support materials, including thematic maps based on the Historic Center Walkability Index and a Best Practices Handbook; and (iii) implementation of a collaborative workshop with local residents and professionals. Conducted through the GeodesignBRA platform, the workshop allowed for the co-creation of 36 proposals, later refined to 11 final actions after peer review and democratic voting. These proposals addressed key aspects of pedestrian infrastructure and urban experience, such as the installation of public seatings, handrails, public lighting, waste collection points, improved crosswalks, and sidewalk adaptations for accessibility. The results demonstrated the platform’s effectiveness in fostering dialogue, critical reflection, and collective decision-making. Furthermore, they revealed latent community demands for more inclusive, human-centered, and age-friendly public spaces. The final proposals addressed gaps in walkability attributes such as effective sidewalk width, slope, safety, comfort, and access to public transport, aligning with both technical standards and local cultural values. This case reinforces the viability of implementing low-cost, high-impact interventions in heritage contexts, provided that interdisciplinary collaboration and careful planning are prioritized.