All of the areas directly at the Costa Maya cruise port are able to be reached by foot. For those that are a little more adventurous and are able to walk along the Malecón then you can reach the nearby village of Majahual which is just south of the cruise port.
Malecón is a word used in Spanish-speaking countries for a stone-built embankment or esplanade along a waterfront
Fun Ashore has the detailed information on the Ports of Departure and Ports of Call to enable cruise vacationers to simplify their planning, maximize their enjoyment in each port and to give detailed descriptions of all of their options so they can make the best decision for their vacation. It was created to help promote the enjoyment of the cruising lifestyle by also enabling both novice and experienced cruise vacationers to maximize their knowledge of the ports they are going to experience and how to ease their embarkation and disembarkation time.