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Cultural visitation routes represent an important opportunity for the public display of the famous historical and cultural city of Beijing, and its pedestrian environment, as a linear spatial carrier linking various historical and cultural attractions, is of great significance for the preservation of the famous historical and cultural city of Beijing through analysis of its spatial quality. At present, Beijing’s cultural visitation routes are in the stage of exploration and improvement, and scholars mainly focus on the selection, integration, and construction of cultural visitation routes in their research on cultural visitation routes, while the amount of research on the quality of the pedestrian environment for visitors is relatively small; in particular, the evaluation methods and indicator systems are still in the exploration stage. In this study, from the perspective of environmental behaviour theory, we took the Forbidden City–The Red House of Peking University–Wangfujing cultural visitation route as the research object and constructed a structural equation model to determine the perception of the pedestrian environment quality of the cultural visitation route in Beijing, starting from the visitors’ feelings of the pedestrian environment of the cultural visiting route. This study found that there is a positive correlation between the quality of spatial behaviours, the quality of the pedestrian environment, and the quality of the facilities on the emotional response of the visitors, with the quality of the facilities having the greatest impact on the emotional response of the visitors; among the observational variables, cultural and scientific facilities, spatial landscapes, street furniture, and safety play a more obvious role, and they are the main factors affecting the emotional response of the visitors. Based on the results of this study, an optimisation strategy for enhancing the pedestrian environments of Beijing’s cultural visitation routes is proposed to provide a reference for their design and optimisation. Full article