I love strolling through a city more than visiting major sites such as museums or churches. I'll visit a few of them because they are interesting and I always learn something, but I find it so much more fun just walking around. I have been to Prague, and to me this city is a walker's dream. For those of you who have been to Lisbon or Amsterdam, or both, do you think I would enjoy my time in either city this way? Let's pretend that for whatever reason I can visit only 2 or 3 of the major sites in each city. Do you prefer one city over the other? I can only go to one due to circumstances. I'm leaning towards Lisbon at the moment, but the canals in Amsterdam sound picturesque. I'm planning for 5 days with a day trip or two sometime in late September or early October. Looking forward to your opinions!
IMO it's mostly a toss-up; both are picturesque in their own way. I guess I'd give a slight advantage to Amsterdam as it's more compact and mostly flat. Lisbon is very hilly.
I've never been to Lisbon, but yes, Amsterdam is extremely walkable. The core of the city is probably more manageable on foot than any major European capital I have visited. The concentric canal system also makes it a little easier to navigate.
As Tom said, Amsterdam is a very walkable city and not only because there aren't very many cars close to the city center. The city is compact and it's easy to lose yourself anytime you're away from very touristy places. I haven't been to Lisbon so I can't comment on that.