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Warminster is situated on the former crossing of the A36 (Bristol to Southampton) and the A350 (Chippenham to Poole) trunk roads. The A362 (from Midsomer Norton and Frome) enters the town from the west while the B390 (Shrewton to Heytesbury) and B3095 (Longbridge Deverill to Gillingham) roads are east and south of the town respectively. The A303 from Exeter to London (M3) also skirts the area south and east of Warminster. The opening of the Warminster Bypass (1988) has diverted much of the through traffic, particularly stone lorries from the Mendip quarries. The former A36 through Warminster has been declassified and is now the B3414.

For cars there is limited on-street parking in parts of the town. The Central Car Park and the Western Car Park serve the Market Place and High Street & George Street respectively. Nearly all of the car parks have some two hour free car parking. Season tickets and permits are available for those who need to park for long periods on a regular basis.

Buses between Bath, Bradford on Avon, Trowbridge, Westbury and Warminster are provided by the First Bus company No. 264 & No. 265. Bus Services between Warminster & Salisbury are provided by No. 24. Bodman's operate a regular bus service Mondays to Saturdays around the town connecting the residential estates and the Garrison with the Market Place and Morrisons' supermarket. Bodmans, Beeline and other companies, also run routes between Warminster and the surrounding villages including Chitterne, Sutton Veny, and the Deverills. Beeline also operates an evening service to Devizes and back. Buses also run to Frome while the Wiltshire Hopper from Warminster and other towns runs to and from the Royal United Hospital, Bath. Tickets for all National Express services can be purchased from Warminster Information Centre.

Warminster Railway Station, which first opened in 1851, is within five minutes walking distance of the Market Place and is on the line between Westbury and Salisbury. Trains run approximately twice per hour on weekdays (hourly on Sundays) direct to Bath, Bristol, Salisbury and Southampton and approximately every hour to South Wales and Portsmouth. There is a direct service to Melksham, Chippenham and Swindon and regular trains to London. A small number of trains also run direct from Warminster to Manchester, Liverpool, Chichester, Brighton, Exeter, Plymouth, and Penzance. Other destinations are easily reached by changing trains at Westbury, Bath, Bristol, Salisbury or Southampton.