From bus services to buffets, best wallet-friendly travel ideas

Travel doesn't have to be expensive. Some of the best attractions in the United States are completely free, and it's possible to find an inexpensive hotel room while still staying in style. Rental car? Skip it by visiting a walkable city.

To find the best wallet-friendly options, a panel of travel experts and USA TODAY 10Best editors selected their top picks in five budget travel categories, then readers voted for their favorites over four weeks — and the results are in.

Click on each category below to see the full winners list:

Best Budget-Friendly Hotel Brand: Motel 6

Well-loved and easily recognized by those traveling the roadways of the United States, Motel 6 has made a name for itself by being clean, friendly, dependable, and most importantly, affordable. Expanded cable TV and pet-friendly rooms make this hotel a good choice for those looking to stay within their budget. Free coffee in the mornings makes getting up and going a pleasure.

Learn more: Best travel insurance

Full list of winners: Best Budget-Friendly Hotel Brand »

Best Buffet Restaurant: Shady Maple Smorgasbord in East Earl, Pennsylvania

Shady Maple Smorgasbord, claiming to be "the largest buffet in America," serves delectable Pennsylvania Dutch dishes in East Earl, Pennsylvania. The well-prepared comfort food is offered on a 200-foot-long smorgasbord, and the space is designed to offer a cafeteria-style ambiance. A gift shop is open to visitors, and their birthday specials are popular.

Full list of winners: Best Buffet Restaurant »

Best Bus Service: Yankee Line

In operation for more than 45 years, Yankee Line serves the Northeast, from Boston to New York City. In addition, the company offers charter services for corporate events, school trips, and much more. Their fleet of custom-built coaches features free Wi-Fi, an onboard restroom, and power outlets.

Full list of winners: Best Bus Service »

Best Free Attraction: Loggerhead Marinelife Center in Juno Beach, Florida

Situated in Juno Beach, the Loggerhead Marinelife Center is focused on ocean and sea turtle conservation, and it’s free and open to the public each day. Since the goal is to rescue and return wildlife to their natural habitats, the number of resident sea turtles will vary when people visit. Additionally, there are plenty of other sea creatures to observe, and volunteers are helpful and willing to answer questions from visitors.

Full list of winners: Best Free Attraction »

Most Walkable City to Visit: Philadelphia, Pennsylvania

Philadelphia is beloved for its cultural and historical attractions, and its walkability is appreciated by residents and visitors. Tourists would likely most enjoy strolling Center City — home to the historic Old City and gorgeous Rittenhouse Square neighborhoods.

Full list of winners: Most Walkable City to Visit »

Congratulations to all these winners! Remember to visit 10best.usatoday.com daily to vote in more Readers' Choice Awards.