The Palfrey was bred to be well tempered and smooth gaited. They were ideal for comfortable pleasure riding, as well as long-distance journeys.
The Palfrey was sure-footed and quite capable of quick, catty movement. Often, these horses were used for pageantry such as parades. They were kept in the stables of members of higher society.
Knights would sometimes choose the Palfrey for battle, because as much as their light structure could be a detriment, they could out-maneuver the heavier-boned horses quite easily.