The new measures include the temporary removal of parking in the Upper High Street and Oxford Street to create extra space for pedestrians – which made room for queueing outside shops.
Signage and information boards have also been put up to help visitors move around the town centre safely and confidently.
New disabled parking bays will be provided at Market Cross, while parking for visitor parking is available at the Cross Hayes car park and at Station Yard car park – where the first two hours are free.
Campbell Ritchie, mayor of Malmesbury, said: "It is great to have many more of our fantastic shops and businesses opening up.
“The increase in pedestrian space in our High Street will let shoppers and visitors shop safely and with confidence in Malmesbury in the weeks ahead."
"The Highways team at Wiltshire Council have worked really hard to help us.
"Now is the time to shop local and to enjoy the welcome and all the variety the beautiful town of Malmesbury has to offer."
Cllr Bridget Wayman, cabinet member for highways, said: "These changes in the centre of Malmesbury will make it easier for shoppers to visit retailers in the town while maintaining social distancing.
"All changes are temporary and have been installed after close consultation Malmesbury Town Council and Malmesbury Town Team, retailers and local businesses.
"We will all closely monitor the scheme during its operation and will regularly review it to ensure it reflects current government guidance and continues to meet the needs of local businesses and shoppers."