Letting your cat wander outside unsupervised is dangerous to his health. Never letting him outside will reduce his quality of life, perhaps drastically. Luckily, these aren't your only options. Your best bet is a third option: let your cat outside in a supervised or controlled fashion.
You have several options to let your cat explore outside relatively safely. Which ones are feasible for you will depend on your living situation and cat, but hopefully at least one will work:
**Put your cat on a leash.*"Put your cat on a leash. You may have to try a few different harnesses to find one your cat tolerates. Once he realizes that wearing it means going outside, he'll likely accept it.
Let your cat outside without a leash but while closely supervised. I do this with my own cat. However I live on a road with minimal traffic, she knows to run towards the house if anything scary happens, and she doesn't run off. Your cat's temperament may or may not allow this option.
Let your cat "outside" in an enclosed space. This could be a screened in porch, a cat run, or even a fenced yard if your cat doesn't climb. If you can't set up a cat run where you live, perhaps you could take your cat to a park or friend's home and set it up there.
I would strongly suggest you find one of these compromises that works for both you and your cat. My own kitty didn't go outside until she was over ten years old, and the improvement in her happiness and temperament has been incredible since I started taking her out. It really does enrich their lives considerably.