There are about 267,000 Automatic Teller Machines (ATMs) in India today with an average of 18.5 million transactions-per-day. However, use of ATMs by people-with-disabilities, particularly wheelchair users, has not been studied in-depth. Therefore, this study investigated ATM usage by wheelchair users to understand their problems and formulate layouts that offer improved environmental access. An observational study was conducted with simulated wheelchair use to identify challenges for environmental access of ATM-kiosks. Universal Design Principles were used as a checklist to classify the degree of human–environment fit. Tolerance for error; flexibility in use; size and space for approach and use; simple and intuitive use had the lowest scores for accessibility. In response, two ATM-kiosks were designed—one for a single-ATM scenario, another for a multiple-ATM scenario. The redesigned ATM-kiosks offer improved environmental access and enhanced usability for wheelchair users. Future work includes extending the project’s scope to address accessibility needs of older adults and people-with-disabilities.