The mistake that makes a bedroom feel small is planning the room by what fits instead of by the clearance it leaves behind. A queen bed and a six-drawer dresser will both fit in a ten-by-eleven bedroom, and the room can still feel like a hallway closet, because the bed is jammed into the corner and the dresser sits twenty inches from the mattress. The numbers that prevent it are not mysterious: 24 to 30 inches along at least one full side of the bed for standing, walking, and tucking sheets; 30 to 36 inches between the foot of the bed and whatever it faces; roughly 36 inches between the bed and a dresser if the drawers open toward it; 36 inches in front of a closet door; and a nightstand 24 to 30 inches wide that actually sits within arm's reach of the mattress.
I keep a tape measure in the top drawer of my toolbox and a roll of blue painter's tape on the shelf above it, and in my own house the tape, not the tape measure, is what settled the argument. Here is the version of the exercise I hand to anyone who will stand still long enough to hear it.
Start by getting everything off the floor except the bed. You don't have to move out. You just have to be able to see the floor. Then walk the room the way you walk it on a weekday morning, at 6:40, before you're awake enough to compensate for a bad layout.
Walk it at 6:40 in the morning before you move anything
Sit on the side of the bed you actually get out of. Swing both feet down. Push up off the mattress edge with your hands. Your feet land about a foot from the mattress, and then you need another foot behind that to stand, turn, and get going. That is where the 24-to-30-inch figure comes from. It isn't a rule somebody invented; it's the footprint of a person getting out of bed.
Under 24 inches, you stop standing up. You slide out sideways with one hand on the wall and your shoulders angled, and after a month you'll swear the room is just small, when what you actually built is a bunk in a closet. I did that for two years in a rental and never noticed I had trained myself to get out of bed like that until somebody stayed over and asked why I did it.
Now make the bed. A queen mattress is 60 inches across. You cannot reach the far top corner of a fitted sheet from the near side, no matter how long your arms are. You end up leaning across the mattress with your ribs on the edge, and the far corner pops off by Thursday. You need one long side of the bed you can stand on. One is enough. Zero is not.
Then stand at the foot of the bed and look at where you would walk. This is the passage lane: 30 to 36 inches to the wall, the dresser, or the closet. Thirty is one person with arms down. Thirty-six is one person carrying a laundry basket, which is a thing you will do every week for the next decade. If the foot of the bed touches a wall, you will make that bed by crawling across it, and you will quietly stop using whatever is on that wall, because you can't get to it.
Where the drawer eats the room
The dresser is the piece people measure wrong. They measure from the wall behind it to the bed, get 26 inches, and call it fine. Measure from the face of the drawer instead.
A drawer bank pulls out somewhere around 18 to 20 inches when it's fully open, and you need close to 18 inches of yourself standing in front of it to see down inside and reach the back. That's your 36. At 30 inches you can open the drawer and crouch at an angle. At 24 you'll open the top drawer and hold it up with your shins while you grab a shirt, which is the moment a bedroom stops feeling like a room and starts feeling like a tight aisle you live in the middle of.
Closet doors have the same problem with a bigger swing. A hinged door needs roughly 36 inches of clear arc to open flat. If the foot of the bed or a dresser sits inside that arc, you get dressed every morning at an angle with a hip against the dresser, or you leave the closet door half open forever, which is its own kind of visual noise. Bifold doors take about half that clearance because each panel folds back on itself. Sliding doors take essentially none, with the trade that you need the wall width for them and you can only reach half the closet at a time.
Nightstands are where I stop being precious. The useful width is 24 to 30 inches, but the number that actually matters is whether the top of it lands near the top of your mattress and within arm's reach of your pillow. A nightstand you have to sit up and lean for is a shelf with pretensions. If there's no floor for a proper one, a wall-mounted ledge at mattress height does the same job in six inches of depth, and it doesn't eat the walking lane.
The corner-bed trick that doesn't work
Here is the part I wish somebody had told me years ago. Pushing the bed into a corner to open up the room doesn't open up anything. It converts a usable strip of floor into a triangle you can't stand in, narrow at the foot of the bed and wider only as you get close to the door, and it takes away the one long side you needed for making the bed. Meanwhile the room reads smaller than it is, because your eye sizes a bedroom by the paths through it and by how the biggest object sits against the walls. A bed with a real lane beside it, a real lane at the foot, and a dresser that can open its drawers looks like a bigger room than the same square footage with everything shoved into the corners.
Blue tape, two nights, one decision
Before you buy or rearrange anything, tape the whole thing out on the floor. Not just the bed footprint. The 30 inches in front of the dresser. The 36 in front of the closet. The lane along the side of the bed you get out of. Then live in it for two nights. Walk it in the dark. The strip of tape you keep stepping over is the clearance you're about to negotiate, and you'll find out which one that is before you've paid for anything.
What to give up first
Real bedrooms don't always fit the numbers, and pretending otherwise is how people end up with a bed they can't make. When something has to give, give it up in this order: the second nightstand, then the bench or the storage ottoman at the foot of the bed, then the second dresser, then a smaller bed size. What you don't give up is the lane on the side you get out of and the swing of the closet door. Those two are load-bearing for how the room feels, even though neither one is a piece of furniture.
A bedroom feels cramped because of the space you walk through, not the space you own. Measure the paths instead of the floor, and the room will behave like it's a size bigger.