Udaipur City sightseeing Trips
City sightseeing trips in Udaipur. Looking to explore Udaipur on a city sightseeing tour? We offer 20+ city sightseeing tours through-out Udaipur, backed by 120+ reviews and offering discounts up to 32%. All our trips are offered by expert trip designers and Udaipur destination experts, with trip durations ranging from 6 to 23 days.
See all Udaipur City sightseeing Tours
Best Price Guarantee
Best Price Guarantee
We guarantee the best prices on all our tours. If you find a lower price within 24 hours of booking, we'll match it.
Note: Prices may vary based on availability and demand.
Select from 20+ tours
10 Best City sightseeing Tours in Udaipur
Discover our best City sightseeing tours in Udaipur, based on reviews and times booked.
10% Off Today
Dive into India’s legendary Golden Triangle and beyond on the Taj Mahal & Wildlife with Royal Stay at Castles Tour. Perfect for both young and senior travelers, this immersive journey weaves together Delhi’s bustling streets, Agra’s world-famous Taj Mahal, and the regal splendor of Rajasthan. Ride elephants, search for wildlife in Ranthambore National Park, and spend nights in actual castles for a taste of royal heritage. The itinerary includes vibrant cities, tranquil palaces, and hands-on experiences like boat rides and village visits. The defining feature? A rare blend of cultural richness, wildlife encounters, and luxurious castle stays—offering an all-encompassing taste of India’s diversity.
11 days
USD 850fromUSD 765
10% Off Today
Step into the regal world of northern India with the Taj Mahal & Rajasthan with Royal Stay at Fort Sardargarh tour. This journey is a deep dive into the grandeur of Rajasthan’s palaces, forts, and vibrant traditions, capped by a visit to the world-famous Taj Mahal. Explore Jaipur’s Amber Fort and City Palace, Jodhpur’s Mehrangarh Fort, and seek tigers in Ranthambore National Park. A highlight of this tour package is the exclusive royal stay at Castle Sardargarh & Deogarh, where you’ll ride a local train through the Aravalli range, reliving the days of the Raj. The USP: authentic royal experiences and heritage accommodations, offering a truly immersive taste of India’s princely past.
14 days
USD 998fromUSD 898
27% Off Today
Northern India’s colors, chaos, and charisma shine on the "Rajasthan & Varanasi — Ancient Temples & the Taj Mahal" tour. Over 20 days, this comprehensive sightseeing trip takes you from the grand monuments of New Delhi through the vibrant cities of Rajasthan, to the holy ghats of Varanasi.
Capture the magic of Jaisalmer’s mud fortress, embark on a memorable camel safari in the desert, and soak up the energy of Pushkar and Jaipur. Expert guides ensure a smooth experience, allowing you to focus on the sights, sounds, and flavors that make India unforgettable.
The unique selling point? An itinerary packed with iconic sites and local gems, offering young travelers an affordable and authentic way to explore one of the world’s most fascinating destinations.
20 days
USD 1,129fromUSD 821
27% Off Today
Journey from New Delhi to Chennai on the 'North to South India: The Taj Mahal & Goa Good Times' tour package, a 21-day adventure that weaves together India's vibrant cities, tranquil backwaters, and iconic landmarks. Perfect for adventurous young travelers eager to experience India on their own terms, this city sightseeing tour covers a diverse array of destinations including Alleppey, Agra, Varkala, and more. Start by diving into the bustling energy of northern Delhi, then unwind on the golden beaches of Goa. Catch the sunrise at Pushkar’s Savitri temple, then glide through tropical canals in Alleppey before enjoying a homestay with a welcoming local family. Throughout, your Chief Experience Officers (CEOs) ensure seamless logistics, allowing you to focus on the experiences that matter most. From lush hills and dynamic cityscapes to mouthwatering curries, this trip offers a genuine taste of India’s contrasts and color. The unique highlight of this tour is the blend of immersive cultural experiences with well-organized travel, making it an ideal choice for those seeking both flexibility and depth on their Indian adventure.
21 days
USD 1,899fromUSD 1,381
32% Off Today
Ready for a kaleidoscope of flavors, sights, and sounds? The Delhi to Goa trip is a 15-day moderate city sightseeing adventure that traces India’s vibrant contrasts from the chaos of New Delhi to the laid-back beaches of Goa. Explore ancient forts, bustling markets, and tranquil lakes from Udaipur to Mumbai, then unwind on Goa’s golden sands with yoga or cocktails in hand.
This journey is designed for those who crave both cultural immersion and relaxation—sample street food in spice-scented bazaars, ride rickshaws through narrow alleys, and chat with local merchants. Cap it all off with a taste of the easygoing Goan lifestyle, where the only agenda is pure leisure.
The unique selling point: a perfectly balanced tour package that covers India’s must-see culture, cuisine, and coast, making it an ideal choice for travelers seeking both adventure and downtime.
15 days
USD 1,115fromUSD 757
See the highlights of India during this 21-day, private tour designed to provide a comprehensive introduction to the diverse landscape and cultural wonders of India's north and south.
From the majestic Taj Mahal in Agra and forts and palaces of Rajasthan to the Hindu and Jain temples of Khajuraho and Varanasi, from vibrant, chaotic cities of Delhi and Mumbai to serene tea plantation and rural backwaters of Kerala, this epic journey is for those whom want to explore one of the world's largest countries and home to civilizations whose history go back by millennia.
Starting from Delhi, this trip will come to an end in Cochin. Please note that domestic flight tickets as well as entrance fees to monuments are not included in the tour price.
21 days
fromUSD 4,988
13% Off Today
Let Rajasthan’s romance sweep you away on this 15-day art and architecture tour, where every city and fortress tells a story. Starting and ending in New Delhi, you’ll wander through the grandeur of Agra’s Taj Mahal, camp beneath desert stars in the Thar, and be enchanted by Jodhpur’s blue-washed lanes. This easy-paced group tour offers more than just picture-perfect sites; village walks, bustling markets, and authentic meals immerse you in local life. With heritage property stays adding a touch of Rajasthani elegance, this trip’s unique selling point is its blend of comfort and cultural depth—perfect for travelers seeking a true taste of India’s northwest.
15 days
USD 2,630fromUSD 2,296
Experience the mesmerizing palaces, colorful cities, and desert wonders of Rajasthan with the Colorful Rajasthan & Golden Triangle guided tour. Over 12 days, this easy-paced trip welcomes both young adults and seniors to explore Delhi’s storied monuments, gaze upon the Taj Mahal in Agra, and journey through Rajasthan’s opulent forts and timeless towns. Traverse golden sand dunes on camelback and immerse yourself in vibrant local culture at every stop. Each destination offers its own blend of history and architectural splendor, ensuring lasting memories and rich cultural encounters. The USP is the tour’s thoughtful balance of comfort and adventure across northern India’s most captivating regions—perfect for travelers seeking a lively yet accessible introduction to this extraordinary land.
12 days
fromUSD 2,239
27% Off Today
Rajasthan dazzles with color and culture, and the "Rajasthan Adventure" tour brings you into the heart of this enchanting Indian state. Over 15 days, journey from Delhi to Agra, Jaipur, Ranthambore National Park, Udaipur, and more, with a focus on city sightseeing and local encounters.
Admire the Taj Mahal’s marble beauty, the ramparts of Jodhpur’s Meherangarh Fort, and the lively spice markets of Jodhpur. Safari in Ranthambore National Park and unwind in Udaipur’s serene lakeside setting. With an expert CEO handling logistics and private transport for comfort, the itinerary is as well-paced as it is colorful.
The USP: a comprehensive Rajasthan tour package that balances iconic sights with off-the-beaten-path moments, giving you a true taste of India’s magic.
15 days
USD 1,449fromUSD 1,053
India is a treasure trove of history and one can spend years trying to unearth its hidden gems. Join us on this 15-day, private, guided tour and get the chance to explore some of the most important destinations in the country. Starting from Delhi, this tour will take you to various cities and towns of Rajasthan, including Jaisalmer, Jodhpur, Bikaner and Udaipur.
Discover grand, ornate palaces and forts built by the Rajputs and enjoy exploring village life in the Thar Desert from the back of a camel. Next, head for Agra to see the majestic Taj Mahal and other Mughal monuments. This tour ends in Varanasi, the holy city of the Hindus where you will witness the spectacular Ganga aarti ceremony.
Enjoy accommodation in 3-star or similar hotels and go out on sightseeing tours in a private vehicle accompanied with a professional, English-speaking driver during this tour. Please note that entrance fees to monuments and flight tickets are not included in the tour price. For more details, please go through the itinerary below.
15 days
fromUSD 3,131
See all Udaipur City sightseeing Tours
Top Udaipur Tour Activities for City sightseeing
Discover tours tailored to your interests, from City sightseeing tours to Cultural, religious historic sites trips as well as Art architecture experiences. Find the perfect activity to match your passion.
Udaipur City sightseeing Tours for all Age Groups
Find tours designed for every age group, from young adventurers to senior travelers. Travel with like-minded explorers and enjoy experiences tailored to your needs.
Trending Udaipur City sightseeing Tour Deals
Discover our trending tours that travelers love, now available at great discounted prices!
10% Off Today
This tour is the perfect introduction for those who want to be immersed in the varied hues of Indian culture in the Golden Triangle!
Ride an elephant, stay overnight in a castle, see the sites of Delhi and other cities, take a boat ride in Udaipur, visit the famed Taj Mahal, go on safari and search for exotic wildlife and more. This tour will take you to nine of the most celebrated places in the heartland of the country: Delhi, Agra, Jaipur, Jodhpur, Rohet, Sardargarh, Udaipur, Pushkar and Ranthambore National Park.
Come and experience the best the Golden Triangle has to offer on this amazing comprehensive tour!
Please see the detailed itinerary for more information on locations, sights and activities.
11 days
USD 850fromUSD 765
27% Off Today
Now's the time to explore India on your terms with this tour that's affordable for young travellers. Spend three weeks discovering the charms and mystery that make up the northern portion of this incredible country. You and your fellow travellers will get some history at the monuments of Delhi, 'gram the colourful cities of Rajasthan, marvel at Jaisalmer's mud fortress, and pull an all-nighter (sleep: optional) on a camel safari through the desert. Your expert CEO (Chief Experience Officer) handles any hassles so you're free to see the sights or just soak up the vibe — India is home to great food, fascinating culture, alluring sights, and friendly and inviting people. Come say hello.
20 days
USD 1,129fromUSD 821
10% Off Today
See northern India through the eyes of the royalties of the old. Explore Rajasthan and its numerous exquisite palaces and fort and end your tour with a visit to the majestic symbol of love world over, Taj Mahal.
This tour is the finest introduction to the culture and traditions of Indian royalties. Visit the Amber Fort, City Palace in Jaipur, Mehrangarh Fort in Jodhpur and go on safaris in Ranthambore National Park in search of tigers and other jungle cats. Experience firsthand the magnificence of a wonder of the modern world, Taj Mahal, a marble mausoleum the Mughal emperor, Shah Jahan, commissioned for his wife Mumtaz Mahal.
Along the way, experience the ways of life of the kings with a stay at Castle Sardargarh & Deogarh. In Sardargarh board a local train ride across the Aravalli range and old tunnels from the time of the British Raj.
14 days
USD 998fromUSD 898
27% Off Today
Now's the time to explore India on your terms with this tour that's affordable for young travellers. Get the best bits of a semester abroad without any of the studying on this epic three-week journey through the subcontinent’s highlights. Embrace the hectic pace of northern Delhi before balancing it out with the beaches of Goa. Then watch the sunrise at Savitri temple in Pushkar and explore the canals of Alleppey on your way to a cozy homestay with a local family. Our Chief Experience Officers (CEOs) handle all the logistics, so you can pack your trip with everything you want — and nothing you don't. Lush hills, bustling cities, and mouth-watering curries are just a taste of the moments and memories that await.
21 days
USD 1,899fromUSD 1,381
32% Off Today
From spice-filled bazaars to white sandy beaches, opulent palaces to spice plantations, discover India in all its glory on this well-balanced 15-day adventure. Delve into a world of delicious street food, ride rickshaws through narrow alleyways, stroll by beautiful lakes and forested hills, mingle with Mumbai merchants, and explore centuries-old icons. Finish up on the shores of easygoing Goa, where yoga, cocktails, and golden sands are all you need to chill out after the bustling big towns of India. Now that’s an idyllic Indian adventure.
15 days
USD 1,115fromUSD 757
13% Off Today
Colourful and chaotic, vibrant, and romantic – welcome to Rajasthan. Explore India’s captivating northwest on this 15-day tour, taking in immense desert cities, the treasures of the maharajah, and forts with fascinating histories. Marvel at the grandeur of the Taj Mahal in Agra, camp under the stars in the Thar Desert and immerse yourself in romantic Jodhpur. This tour doesn’t just cover Rajasthan’s many bucket-list-worthy sites but it also immerses you in the thrum of daily life through village walks, market explorations and plenty of memorable meals. Add a touch of comfort and some very special heritage property accommodation for a true Rajasthani travel adventure.
15 days
USD 2,630fromUSD 2,296
27% Off Today
Travelling through Rajasthan is like walking through a kaleidoscope. Everywhere you look, colours dance before your eyes — from saris drying on riverbeds to the sunsets of Udaipur, from the spice market in Jodhpur to the white marble of the Taj Mahal. Uncover the secrets of romantic Rajasthan on this 15-day tour of the colourful Indian state. Marvel at the rampart views from Jodphur's Meherangarh Fort, enjoy a safari in Ranthambore National Park, and then soak in the relaxed atmosphere of Udaipur. Your expert CEO will take care of the hassles — and travel days are well-paced and include private transport, so you'll hit the sights refreshed. Be prepared to fall in love with India!
15 days
USD 1,449fromUSD 1,053
10% Off Today
Take a journey through India's highlights: explore New and Old Delhi, visit the famed Taj Mahal, get to know Jaipur, take a jeep ride to the Amber Fort, and enjoy an unforgettable boat ride along Udaipur's incredible Lake Pichola.
10 days
USD 1,735fromUSD 1,562
10% Off Today
This exhilarating tour will guide you from colourful Delhi all the way to the bustling city of Mumbai. Along the way you'll get to visit the majestic Taj Mahal, jeep ride to Amber Fort, shop in the walled pink city of Jaipur, explore the romantic City of Lakes, Udaipur and immerse yourself in the vibrant flowers in Mumbai's Dadar Flower Market.
12 days
USD 2,645fromUSD 2,381
11% Off Today
Old and new, colour and chaos, sticky cities and sunny beaches… India is a wonderful cacophony that blazes a trail in your memory long after you get home. Ready to have your senses awakened in Delhi’s buzzing bazaars, Jaipur’s pink palaces, Mumbai’s historical streets and Goa’s heavenly beaches? This is officially the trip for you.
12 days
USD 2,615fromUSD 2,315
Udaipur City sightseeing Tour Types
Discover Udaipur City sightseeing tours in your way! Choose from group tours, private experiences, solo adventures, or guided and escorted tours.
Udaipur Travel Styles
Explore Udaipur with our diverse travel styles! Choose from luxurious tours that pamper you with comfort and elegance, or budget-friendly options that let you experience the beauty of Udaipur without breaking the bank. Whether you're indulging in fine dining or discovering hidden gems, there's a perfect adventure waiting for you.
Udaipur City sightseeing Tour Reviews
Guest reviews from travelers on City sightseeing tours in and around Udaipur
Kirby | Traveled in July
The tour was absolutely amazing from Day 1 to the very end! The entire team did a fantastic job in making our experience smooth, enjoyable, and unforgettable. We highly recommend this tour to anyone looking to explore India with comfort and confidence
N Bullion | Traveled in July
I recently embarked on the Taj Mahal & Rajasthan with Royal Stay at Castles Tour, and it was nothing short of a fairytale experience. From start to finish, the entire journey was meticulously planned and executed, providing an unforgettable exploration of India’s rich cultural heritage.
Anna Lamont | Traveled in March
The experience exceeded our expectations, with my travel expert Allison checking in daily to ensure everything was going smoothly, which made us feel like valued friends. Additionally, the tour guide Rajeev captured many beautiful photos for us. Thank you for everything, I will definitely recommend your services to anyone seeking a perfect trip to India!
Perla Rosenberg | Traveled in March
My family and I had an incredibly enjoyable trip. The tour guide Priya proactively contacted us beforehand to outline the next day's itinerary. The hotel arranged by the travel agency was delightful, and our guide Priya was exceptionally knowledgeable, providing detailed explanations of each attraction's history. Every staff member involved in our trip was outstanding. Based on this experience, I've decided to partner with this travel agency again for my next travel plans and recommended this trip to my friends.
Brian Fletcher | Traveled in January
My 12-day tour of India was incredible! Our guide and driver were exceptionally polite and made me feel completely at ease. Guide Ria was fantastic, always accommodating and communicative. He anticipated our needs and ensured we were well-informed about our plans for the following day. Each day was filled with exciting tours, allowing us to visit all the sights we wanted to see. Highly recommend this one!
SHARI ANNABLE PEMBERTON | Traveled in October
We had a great trip. There was a little too much down time for us so we added some sites to see and they were very accommodating to all of our additions. Our driver, Mahendra, did a fantastic job of getting us everywhere safely. He was always prompt, polite, courteous and allowed us to set our own pace which involved some early morning departures so we really appreciated that.
Design your own personalized City sightseeing trip to Udaipur with help from a local expert.
Work with a local expert to plan a seamless itinerary through Udaipur and India.
Anu SethTravel Expert in India & Sri Lanka
Recommended by
Keep Exploring Udaipur
Related Destinations
Tour Types
Popular Activities
Upcoming Departures
- Fall tours
- Winter tours
- Spring tours
- Summer tours
- September 2025 tours
- October 2025 tours
- November 2025 tours
- December 2025 tours
- January 2026 tours
- February 2026 tours
- March 2026 tours
- April 2026 tours
- May 2026 tours
- June 2026 tours
- July 2026 tours
- August 2026 tours
- September 2026 tours
- October 2026 tours
- November 2026 tours
- December 2026 tours
- January 2027 tours
- February 2027 tours
- March 2027 tours
- April 2027 tours
- June 2027 tours
- July 2027 tours
- August 2027 tours
- September 2027 tours