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Philadelphia & Boston are probably the most "old-world" looking major cities in the US.

Montreal in Canada is also worth taking a look at.

The southern part of Manhattan Island (below all the streets with numbers, like Wall Street) still has a very "old-world" street layout, and if you imagine shorter buildings down there, it's definitely laid-out pre-car. I'm smitten by how twisty and close-in everything is when I get down to that part of the city. Probably due to that, it's also a bit more walkable in certain ways than the rest of the island.

Some of the old Spanish settlements in the South, and especially the old part of San Juan Puerto Rico are very old world feeling.

The numbered street grid in Manhattan was laid out at the beginning of the 19th century. The reason there are so many streets and so few avenues was to facilitate river-to-river movement of freight. The reason for the standardized grid was to make land development more predictable (it's also called the speculative grid for that reason).

Quebec City is also quite "old world".

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