The document sets out methods to ensure that everyone has transport links to community facilities or lives within easy reach of them.
The DfT was advised by the Central Local Working Group on Accessibility Planning, which includes the Local Government Association, the Social Exclusion Unit, the Passenger Transport Executive Group and the ODPM.
Minister for local transport Charlotte Atkins said: "Good transport is essential to access places of work, health care facilities, education and food shops."
Guidance on Accessibility Planning in Local Transport Plans can be viewed via www.PlanningResource.co.uk.
