This paper uses the concept of “streets for all” as the analytical basis to critique the neglect of pedestrians, cyclists and street vendors in transport policy and practice in the city of Nairobi. The paper shows that transport planning in Nairobi has not adequately taken care of informal economy and non‐motorized transport such as walking and cycling. This has resulted in competing use of pavements and roads, exposing pedestrians, cyclists and street vendors to insecurity and harassment. The paper calls for inclusive transport planning for multiple street activities, which requires implementing a “streets for all” policy. Such a policy needs to be critically pursued at the level of dealing with the institutional and structural bias in urban transport planning towards motorized traffic and the overall urban development that does not adequately consider the spatio‐temporal activity pattern and the life of pedestrians, cyclists and vendors on the streets.