The right to access and occupy public space is valued in Western urban and social policy discourses, yet people with disabilities continue to be directly and indirectly excluded from public spaces. This entrenched discrimination occurs because planning and design operate from an ableist lens that values and upholds a normative (unrepresentative) ideal about human ‘bodyminds’. In addition, design that complies with only minimal standards often prevents full access to and use of public spaces by diverse people with disabilities. This chapter outlines the benefits to individuals and society of allowing full access and participation in public spaces for people with disabilities. The authors introduce mechanisms that are crucial to helping to disrupt ableism and achieve goal 11.7 for people with disabilities. The chapter illustrates how closer alignment between work health and safety laws and efforts to promote access can help achieve more inclusive public spaces.