I've found this site useful (Destiny)

by RC , UK, Friday, October 03, 2014, 11:48 (3947 days ago) @ Mariachi

So I've had less play time than most. I finally beat the story mode this week, but during the story missions, I really just followed my waypoint to get from place to place. I didn't really pay attention to the names of the different areas in each map. I really want to go through and do some public events, and explore for chests and dead ghosts. Is there a map of each world? Something that would tell me how to get from the spawn location to the different areas?

http://destinypublicevents.com

Aside from the main point of giving you an estimate of when Public Events may occur, it has little crappy videos showing how to get from the start point to different areas.