Nasty looks and comments were among the experiences putting many off using buses, trains and Tubes.
Almost half had experienced such negativity and around a third of it came from train crew and bus drivers.
Some 29% were put off using public transport as a result of, according to the survey of more than 2,000 by equality charity Scope.
Another 29% said they use it less than they would like to, due to issues such as overcrowding, problems getting on and off, and a lack of appropriate seating.
Taylor of Scope said James disabled people are being "left behind" by society.
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