We prefer to travel by car as it is easiest for us and we have full control of when and where we can visit. Dornoch can be reached by citylink buses and stage coach buses - journey time is about one hour from Inverness. Trains also run from Inverness to Tain - from the station it is a ten minute taxi ride into Dornoch. If you do take a car good news is parking is free everywhere in Dornoch. Sutherland covers a very large area and towns and villages are miles apart. Traffic wardens are non existent so parking will always be free.
In recent years it has become easy to reach Dornoch from Inverness. Take the A9 across the Kessock Bridge, then cross the Cromarty Firth and head north towards Tain. About 2 miles north there is the Dornoch Firth Bridge. From there it is a short drive into Dornoch itself, by turning right at the signs after the bridge.
Buses leave Inverness Bus Station almost every hour, and there are services to Tain and Dornoch.