The document looks at changes that would get more people out of their cars, including improvements to the urban public realm.
It explains: "If we can increase levels of walking and cycling, the benefits are substantial. For people, it means cheaper travel and better health. For businesses, it means increased productivity and increased footfall in shops. And for society as a whole it means lower congestion, better air quality, and vibrant, attractive places and communities."
Changes will tend to be made on a local government level rather than enforced from the top down, in line with the Government's devolution agenda.
While most of the focus is on infrastructure changes to make walking and cycling easier, safer, and a viable alternative to driving, there is also a "Better Streets" objective which focuses on making the experience of travelling by bike or on foot more enjoyable.
This includes creating "a wider green network of walkways, cycleways and open spaces that lets people actively incorporate nature into their daily lives".
Department for Transport is now consulting the public on how it can deliver its cycling and walking ambitions. Public consultation on the document runs until 23 May.