Car Free Day should be repeated at least once a year, according to almost 90 per cent of residents surveyed in cities and towns which participated.
Some 33 per cent of those surveyed said Car Free Day, held last month, should be repeated once a week.
The survey was commissioned by the Irish Energy Centre and involved 300 telephone interviews and 250 interviews with people walking in the car-free areas on the day.
Air pollutants in Dublin were lower by 30 per cent during the day and the number of vehicles going into and out of the city decreased by 11 per cent, according to preliminary measurements.
Dublin Bus said there was a 9 per cent rise in passenger numbers and average journey times decreased by almost 30 per cent.
In Limerick, noise levels were less than half normal measurements.
Most respondents to the survey said car use should be limited to improve freedom of movement in urban areas. More than 70 per cent said they were concerned about the negative impact cars were having on towns and cities. Less than 10 per cent said they were not concerned.
More than 60 per cent said it was essential to develop public transport even if motorists were inconvenienced. Lack of public transport was one of the disadvantages of Car Free Day, according to 29 per cent of those surveyed.
Mr David Taylor, director of the Irish Energy Centre, said it was clear that the public was supportive of the event.
"The amount of urban traffic in Ireland is leading to a deterioration in quality of life through increased congestion, noise and negative impacts on air quality. We need to explore all the realistic options we have to reduce traffic congestion in our cities," he said
Mr Brian Motherway, a spokesman for the Irish Energy Centre, said the survey showed the day was successful in raising awareness on transport and congestion.
"I don't think anyone expected a car-free city from it but it generated interest and debate and got all sides talking," he said.
He added that pedestrianised and park-and-ride facilities were ways of meeting public expectation generated by Car Free Day. "No one has denied the way we do things now needs to change. Motorists would be the first to admit that the fact that we are so dependent on cars is not a good thing."