The manifesto includes five “key” demands, including a call for a third of Tube stations to be step-free by 2018 and 100% of buss stops to be accessible by the same date.
The group also want Transport for London to “restore all the staff axed from the Underground and ensure assistance is reliably available including on London Overground”.
Mayoral candidates in May’s elections are being asked to adopt the policies in their own manifestos.
Lianna Etkind, Transport for All’s campaigns coordinator, said: “We have heard many warm words from politicians and TfL: words like access, inclusion, and equality. But words are not enough. Until there is a real commitment to a public transport system that everyone can use, disabled people face longer and more difficult journeys than everyone else.
“Large tracts of London remain out of bounds to us. We want to Mayor to work towards a London where disabled and older people are able to travel with the same independence and freedom as non-disabled people.”
The manifesto can be downloaded from www.transportforall.org.uk
