Serviced by the highway and the main train line, Middelfart is easily accessible. Billund Lufthavn is the nearest airport, and a car rental can be found there. Driving to Middelfart from Billund takes roughly an hour, and the same can be done by bus with transfer in Vejle.
Middelfart is not a large city, so transport in Middelfart is mainly by foot. Walking around in the forests west of Middelfart, on the newly renovated waterfront (with a view of both bridges) with the Cultural Island ("Kulturøen" - housing the tourist information) or in the narrow streets of the old town is nice in the summertime.
Of course, Middelfart is not housing international and/or famous sightseeings, but the beautiful nature and the old buildings in the town are not to be missed.