There is a designated area in the zoo for kangaroos where they can wander on visitors' paths and the animals are used to people so you can see them very close.
To see semi-wild kangaroos visit the Pinnaroo Valley Memorial Park (a cemetery, but not European style) - it's a walking distance from Whitfords Transperth Train/Metro Station - just cross the highway, the highway exit and look for the entrance on the left. As there are plenty space for them you may see them not only eating but also hopping.
The Most Frequently Asked Travel Questions about Perth
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Perth Travel Guide from Wikitravel. Many thanks to all Wikitravel contributors. Text is available under Creative Commons Attribution-ShareAlike 3.0, images are available under various licenses, see each image for details.