Limited research from the Global South has examined pedestrian accessibility to key destinations, particularly while considering efficient and practical sidewalk-specific conditions. This study employs a case-based approach, scrutinising walking access to three central squares, Mexico City’s Zocalo, Lima’s Plaza San Martin, and Buenos Aires’ Plaza de la República, within a 10-min walking radius. Geographic Information Systems (GIS) and Google Street View (GSV) were leveraged to conduct a virtual street audit, assessing six microscale features influencing the walking experience (kerb ramps, pavement continuity, sidewalk width, well-maintained sidewalks, active uses, and green spaces). These data facilitated the construction of a genuine pedestrian network and allowed the assessment of three-tiered pedestrian accessibility models that comprised easy access, comfortable routes, and vibrant walks. The findings reveal significant spatial inequities in pedestrian access. About 10% of buildings near Mexico City’s and Lima’s central squares lack pedestrian accessibility due to inadequate and interrupted sidewalk and crosswalk infrastructure, disproportionately impacting those with mobility limitations. Conversely, Buenos Aires exhibits better pedestrian facilities, with accessible, comfortable, and lively routes reaching approximately 20% of buildings surrounding the Plaza de la República. These results underscore the significant disparities in street infrastructure and networks within these historic neighbourhoods, emphasising the imperative for more inclusive, pedestrian-friendly urban planning in Latin American cities.