His exchanges with his passengers were captured on a hidden camera.
The footage - made in collaboration with an advertising company - has been posted on the prime minister's Facebook page and made into a film which will be used as part of his campaign for re-election in September.
"It is important for me to hear what people really think," he told Norwegian media.
"And if there is one place people really say what they think about most things, it's in the taxi."
Some of the passengers who appear in the film had been told to wait for the taxi - without being told who would be driving - while others were picked up randomly and from taxi ranks.
Most of them appear to realize very quickly that there is something different about their driver, with one saying: "From this angle you really look like Stoltenberg."
Another says she was lucky to meet him as she "wanted to send a letter".
The conversation turns to politics in most cases.
Mr Stoltenberg engages one passenger on education, saying: "The main point is to make sure good students have something to stretch for, and to give those who struggle extra help."
None of the passengers was charged for the ride.
Mr Stoltenberg told the VG newspaper: "I'm pretty well known in Oslo, but I tend to sit in the back seat."
The Labour prime minister came in for criticism for his driving, at one point jolting the car abruptly when, he said, he mistakenly applied the brake pedal on the automatic car, thinking it was the clutch.
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