It is around 4 km from Railway station, you can take an auto or book a cab, which will cost you around Rs 50 – Rs 70 and drop you at the main gate of the fort. Surprisingly, it is only around 2 km if you chose to go by walking.
The distance is 12 km from the airport and again you will have to either book a cab or take an auto.
The public transport is not that good in Gwalior so you will have to rely mostly on the private buses or autos which operate on the fixed routes. I found the rates of these private transports fairly reasonable as compared to other major cities I have visited.
Gujari Mahal:
For Indians: Rs 20
For Foreigners: Rs 200
Karan and Vikram Mahal:
For Indians: Rs 40 (payment via card) / Rs 50 if you give cash
For Foreigners: Rs 400 / Rs 500
Raja Man Singh Palace:
For Indians: Rs 20
For Foreigners: Rs 200