Yosemite National Park is a place where nature’s grandeur leaves you breathless—massive granite cliffs, roaring waterfalls, and ancient sequoias make it a prime destination for sightseeing tours. What sets Yosemite apart is the sheer scale and accessibility of its most iconic sights. Whether you’re a photographer wanting a guaranteed shot of Half Dome, a hiker eager for secluded trails, or someone just looking to soak in the views without the hassle, there’s a tour for you. For instance, a Yosemite Highlights Small Group Tour offers a taste of many key landmarks in a convenient, expert-led day, while a Jeep 4 X 4 Yosemite Park Tour takes you off-road to hard-to-reach spots with a rugged vehicle.
In this guide, we’ll explore the 16 best Yosemite tours, from half-day adventures to multi-day backpacking trips, so you can pick the one that matches your interests, fitness level, and schedule.
1. Yosemite Highlights Small Group Tour
Discover Yosemite is proud to have won Trip Advisor’s Traveler’s Choice award for being in the top 10% of activities worldwide. For about $210, this 9-hour guided tour takes you through the highlights of Yosemite with expert commentary and frequent photo stops. You’ll see Half Dome, El Capitan, Yosemite Falls, Bridalveil Fall, and more, with the chance to walk to waterfalls and explore Mariposa Grove. The tour’s small group size ensures personalized attention, and reviews praise guides like Chad and Jarrett for their knowledge and friendly demeanor. Note that some stops, like Glacier Point and waterfalls, are seasonal.
Bottom Line: Perfect for first-timers or those wanting a rundown, this tour balances scenery, education, and convenience.
2. Private Guided Hiking Tour in Yosemite
For around $292.50, this customizable 4-6 hour private hike offers a tailored experience into Yosemite’s wild side. Your local guide will take you along lesser-visited trails, away from the crowds, with options that include Yosemite Valley or the High Country. Hike past waterfalls, alpine meadows, or secret trails, with your guide providing insights into the park’s ecology and history. Guests have raved about Ana’s friendly, attentive approach and her ability to customize hikes to different skill levels. Whether you want a gentle half-day or a more challenging trek, this tour offers flexibility.
Bottom Line: Ideal for those who want a personalized adventure and prefer to avoid busy spots, this tour is a great choice for families or experienced hikers alike.
3. Yosemite Valley Private Hiking Tour
At $360, this full-day private hike gives you an in-depth exploration of Yosemite’s iconic features like Yosemite Falls, Mirror Lake, and North Dome. Guides like Sarah lead small groups, sharing stories and geology while navigating famous trails. Profits support Yosemite youth programs, adding a feel-good element. Guests mention guides like Ian as passionate and knowledgeable, making the experience both educational and scenic.
Bottom Line: For travelers who want a comprehensive, private experience with a focus on natural and geological features, this tour hits the mark.
4. Jeep 4 X 4 Yosemite Park Tour with Hotel Pickup
For a luxurious and adventurous day, this private Jeep tour for up to four people costs about $1,295 and includes hotel pickup, a packed picnic, and a rugged vehicle capable of tackling any terrain. Highlights include Tunnel View, Bridalveil Fall, Yosemite Falls, El Capitan, and Glacier Point. Guests praise guides like Daniel for their knowledge and friendliness. The tour is perfect if you want to see the park’s highlights comfortably and at your own pace, with the flexibility to customize stops.
Bottom Line: Best suited for travelers seeking a private, all-inclusive day with expert guidance and off-road access to Yosemite’s top sights.
5. Semi Private Yosemite Tour with Ahwahnee Lunch and Hotel Pickup
For $250, this 8-hour small-group tour combines sightseeing with a gourmet lunch at the historic Ahwahnee Hotel. It covers major spots like Glacier Point, Yosemite Valley, Bridalveil Fall, and El Capitan. Guides like Amanda or Laura deliver detailed narratives, making this tour perfect for travelers wanting a relaxed day with good food. The small group size means more personal attention, and reviews highlight the guide’s friendliness and knowledge.
Bottom Line: A balanced choice for those wanting to see the highlights without rushing, and enjoy a memorable dining experience.
6. Yosemite National Park & Sequoias Private Tour from San Francisco
This private 14-15 hour tour offers an all-in-one package from San Francisco for up to five people at $1,200. It includes Yosemite’s top sights and the Mariposa Grove of Giant Sequoias. Travel in a private SUV, with stops at Tunnel View, Glacier Point, and Bridalveil Falls. Guests report guides like Pablo as highly knowledgeable and accommodating. It’s great if you’re limited on time but want to maximize multiple highlights in one day.
Bottom Line: Suited for travelers who have a long day and want the convenience of private transportation combined with a comprehensive Yosemite experience.
7. 4-Day Half Dome Backpacking Adventure
At $2,150, this backcountry journey is for serious adventurers ready to carry gear and hike into Yosemite’s remote areas over four days. Starting at Half Dome Village, you’ll camp in the wilderness, explore Sunrise Lake, and even climb Half Dome—a bucket-list challenge. Guides like those leading this tour are experts in backcountry camping, safety, and trail navigation, making it suitable for experienced hikers looking for an epic multi-day trek.
Bottom Line: Best for seasoned hikers seeking solitude, challenge, and a truly immersive Yosemite experience.
8. Private Yosemite & Glacier Point SUV/Van Tour Including Hotel Pickup
For about $1,075, this customizable 8-hour private tour gives you the flexibility to choose your Yosemite highlights. You might visit Yosemite Falls, Sentinel Bridge, or Glacier Point at your own pace. Guides like Sandy or Julie are praised for their local knowledge and friendly service. Perfect for those who want control over their day and prefer a guided experience without the crowds.
Bottom Line: Excellent for travelers who want to curate their own Yosemite adventure with a dedicated guide.
9. Private Family Hike in Yosemite
For $178.75 per person, this half-day private hike is designed for families with children. Guides like John or Zim tailor the hike to your group’s ability, offering both beginner and moderate options around Yosemite Valley or the High Country. Guests appreciate guides’ flexibility and their ability to make hikes accessible and fun for all ages, including those with limited mobility.
Bottom Line: Ideal for families wanting a relaxed, educational outdoor experience tailored to their pace.
10. Yosemite Valley & Glacier Point Adaptive Tour
At $180 per person, this full-day adaptive tour makes Yosemite accessible for travelers with mobility challenges. Using paved, wheelchair-friendly trails, you’ll see Yosemite Falls, Half Dome, and Glacier Point. Guides like Matt or Nat are praised for their engaging knowledge and accommodating approach. It’s the perfect option for travelers who want to enjoy Yosemite’s landscape without walking long distances.
Bottom Line: The best choice for visitors with mobility concerns seeking an inclusive, comprehensive Yosemite experience.
11. Yosemite Winter Highlights Small Group Tour
Costing about $200, this 7-hour winter tour showcases Yosemite’s snow-capped beauty. With stops at Yosemite Falls, Bridalveil Fall, and Glacier Point, guides like Jarrett and Chad excel at tailoring the experience to winter conditions. Guests love the small group setting and the chance to see Yosemite’s quieter, magical side in the colder months.
Bottom Line: Perfect for winter visitors wanting a scenic, guided day with fewer crowds and unforgettable snowy vistas.
12. Yosemite National Park & Sequoias Private Tour from San Francisco
This long day trip for small groups up to five costs $1,200 and includes stops at Tuolumne Grove, Glacier Point, and Yosemite Falls. Guests praise guides like Bryant for their deep knowledge and ability to balance sightseeing with relaxing pacing. A great way to cover major sights from San Francisco without the hassle of self-driving.
Bottom Line: Best for travelers with a full day who want a private, flexible, and comprehensive Yosemite experience from the Bay Area.
13. Guided Yosemite Hiking Excursion
At $205, this 5-hour guided hike offers options from gentle walks to strenuous climbs, including Glacier Point and Sentinel Dome. Guides like Emily and John make sure you see the best views suited to your skill level. Many guests comment on how the guide’s knowledge and pacing make the experience memorable.
Bottom Line: Suitable for hikers who want expert-guided routes tailored to their fitness, with plenty of incredible vistas.
14. Private Full Day Fly Fishing For Beginners and Experienced Anglers
For $305, this private fly fishing trip is ideal for anglers—whether novice or experienced. Guides like Kevin take you to prime waters in Yosemite or Stanislaus National Forest, all gear included. Guests appreciate the personalized instruction, and many mention catching fish as a highlight.
Bottom Line: Perfect for anglers wanting a tailored, all-inclusive fishing adventure in Yosemite.
15. Waterfalls of Yosemite – Customizable Private Tour
At $495, this customizable private tour allows you to choose which waterfalls and sights to visit, with a guide who adapts the day based on your preferences. Whether you focus on Bridalveil Fall or Royal Arch Cascade, guides like Miranda and Gabe ensure you see Yosemite’s most spectacular falls with a personal touch.
Bottom Line: Best for travelers seeking a flexible, personalized waterfall-focused experience.
16. Yosemite Valley Discovery Walk
For $180, this 7-hour small-group tour covers many of Yosemite’s key sights, including Yosemite Falls, El Capitan, and Tunnel View. Guides like Annette bring a friendly, informative style that makes even a full day of sightseeing feel relaxed. It’s a great choice for those who want hassle-free transportation and an overview of the valley’s highlights.
Bottom Line: An accessible, well-rounded option for travelers who want to see Yosemite with expert narration without strenuous activity.
How to Choose the Right Yosemite Tour
Choosing among Yosemite’s many tour options depends on your priorities. If you want a rundown, the Yosemite Highlights Small Group Tour offers excellent value with its expert guides and well-rounded itinerary. For those wanting a more intimate experience or a deep dive into specific interests, private tours like the Private Guided Hiking or the Private Yosemite & Sequoias Tour give you flexibility and personalized attention.
Budget-conscious travelers or families with kids often prefer shorter, guided hikes like the Private Family Hike or the Yosemite Valley Discovery Walk. For adventurers and seasoned hikers, multi-day backpacking trips like the Half Dome Backpacking Adventure are unmatched. If accessibility is a concern, the Yosemite Valley & Glacier Point Adaptive Tour guarantees everyone can enjoy the scenery.
Booking early is advisable, especially for popular tours in peak seasons like summer and fall. Many tours fill quickly, so plan ahead for a smooth, unforgettable Yosemite adventure.
Whether you’re after a full-day sightseeing extravaganza, a private family outing, or a challenging backcountry trek, Yosemite’s diverse tour options make it easy to match your interests and fitness level. No matter which you choose, the park’s stunning scenery will leave you with memories to last a lifetime.