The agora was a central public space in ancient Greek city-states. It is the best representation of a city-state's response to accommodate the social and political order of the polis. The literal meaning of the word "agora" is "gathering place" or "assembly". The agora was the center of the athletic, artistic, business, social, spiritual, and political life in the city. The Ancient Agora of Athens is the best-known example.

A public space is a place that is open and accessible to the general public. Roads, pavements, public squares, parks, and beaches are typically considered public space. To a limited extent, government buildings which are open to the public, such as public libraries, are public spaces, although they tend to have restricted areas and greater limits upon use. Although not considered public space, privately owned buildings or property visible from sidewalks and public thoroughfares may affect the public visual landscape, for example, by outdoor advertising. Recently, the concept of shared space has been advanced to enhance the experience of pedestrians in public space jointly used by automobiles and other vehicles.