Cabo San Lucas is a playground for travelers seeking diverse full-day experiences. Whether you want a luxurious private tour, an adrenaline-pumping motorcycle ride, or a relaxing cruise filled with snorkeling, Cabo offers something for all. We especially like the Full-Day La Paz Private Tour from Los Cabos for its flexibility and comfort—an elegant way to see Baja’s highlights while skipping the crowds. Plus, with options like stopping at Cerritos Beach or Todos Santos, it promises a personalized experience.
While these tours differ in style—from off-road adventures to whale watching—each offers a chance to see Baja California Sur’s stunning landscapes and marine life up close. Whether you’re traveling as a family, with a partner, or solo, there’s a full-day adventure waiting. The variety ensures that you can pick something that fits your interests and energy level, making Cabo a top spot for memorable day trips.
Quick Overview
Our list includes private tours, off-road motorcycle adventures, cruises with snorkeling, beach excursions, whale watching, and luxury fishing trips. Each offers a different way to experience Cabo’s natural beauty and local culture. Now, let’s explore each one in detail to help you decide which suits your style.
1. Full-Day La Paz Private Tour from Los Cabos
At number 1, this Full-Day La Paz Private Tour from Los Cabos stands out for its personalized approach. It begins with a luxury vehicle and a bilingual driver-guide, ensuring you relax and enjoy the scenery comfortably. The tour offers the flexibility to visit Cerritos Beach—known for its soft sands and surf—or stop in the charming town of Todos Santos, famous for its art galleries and historic buildings. The journey to La Paz itself is filled with panoramic views of Baja’s rugged coast.
The tour is entirely customizable, which makes it ideal for families or travelers who want to tailor their day. You’ll explore beaches, sample local seafood in La Paz, and stroll along the lovely Malecón. The private guide and vehicle make this a seamless experience, with hotel or port pick-up and drop-off included. With a perfect 5-star rating from 30 reviews, it’s clear that this tour offers excellent value and a high level of comfort. One reviewer noted, “Jorge knew the area very well and was very accommodating,” highlighting the personal touch.
Bottom line: If you want a private, flexible experience with expert guidance, this tour is hard to beat—especially for those who prioritize comfort and customizing their day.
2. Full Day Off Road Motorcycle Adventure, Cabo Pulmo or Santiago Waterfalls
Number 2 offers an adrenaline-fueled, off-road experience that’s perfect for thrill-seekers. The Full Day Off Road Motorcycle Adventure includes riding Honda CRF450X bikes or race cars through Baja’s desert and coastal terrains. The tour features stops at Cabo Pulmo Marine Park, where you can enjoy a beachfront meal at La Palapa Restaurant, and at the Santiago Waterfalls or Fox Canyon, for a refreshing dip.
The focus here is on adventure and exploring Baja’s rugged beauty. The tour is suitable for those who have some off-road riding experience, but the gear and bikes are in top shape. The reviews commend the guides’ professionalism and flexibility, with one saying, “Erik was excellent as a guide, tailoring the day to our skill level.” The tour offers a great mix of sand, sea, and mountain landscapes, with the freedom to customize your route.
Bottom line: Ideal for active travelers craving a blend of off-road riding and scenic exploration, provided you’re comfortable on a bike or race car.
3. Espiritu Santo Island Full-Day Cruise with Snorkeling and Lunch! Round Trip
Number 3 on our list is a full-day cruise to Espiritu Santo Island, a true highlight for lovers of nature and marine life. Starting from La Paz, you’ll enjoy a scenic ride through bays and coves with stunning views of the coast, as the guide shares insights into Baja’s marine ecosystem. The trip includes about four hours of time on the island, where you can snorkel, explore beaches, and learn about the island’s conservation efforts.
The tour is well-regarded for its natural beauty, wildlife encounters, and the quality of the included lunch. It’s perfect for those who want a balance of relaxing boat time and active snorkeling. The experience is comprehensive, with natural formations, panoramic views, and the chance to see sea lions and other wildlife. The 12-hour day is a bit long but packed with memorable moments, ideal for families or couples wanting a mix of adventure and tranquility.
Bottom line: This cruise offers a chance to see Baja’s marine environment up close, making it great for nature lovers and water enthusiasts.
$464.00 per person
4. Full Day Tour to Balandra Beach, Todos Santos and La Paz
Number 4 is a scenic combination of some of Baja’s best beaches and towns. The Full Day Tour to Balandra Beach, Todos Santos, and La Paz includes stops at Balandra, known for its shallow turquoise waters, and Coromuel Beach, famous for its calm, clear waters perfect for relaxing. The tour also explores La Paz, with its lively Malecón, shops, and cafes, before heading to Todos Santos, a Pueblo Mágico with art galleries and historic streets.
This tour balances beach time with cultural exploration. The included stops offer a rich variety of Baja’s landscapes and towns, making it ideal for travelers who want to see different sides of the region in one day. With reviews mentioning the beauty of Balandra and the charming town of Todos Santos, it’s a good choice for those interested in both natural and cultural sights. The price is reasonable, and the tour operates for about 12-13 hours.
Bottom line: Perfect for those who want a well-rounded day with plenty of beach and town exploration, especially if your group enjoys combining relaxation and culture.
5. Full-Day Gray Whale Watching Tour from Cabo to Mag Bay
Number 5 is a dedicated whale-watching trip to Mag Bay, led by a marine biologist. The Gray Whale Watching takes you to some of the best places on earth for close encounters with gray whales. Traveling in remote, pristine waters, you can observe these gentle giants as they migrate and play, with insightful commentary from your guide.
The trip emphasizes wildlife viewing and education, offering a rare chance to see whales up close in their natural habitat. It’s a full 14-hour day, so expect an early start and a focus on wildlife rather than beaches or cultural sites. The tour is suitable for wildlife fans and those eager for a meaningful connection with nature. While reviews are limited, the emphasis on expert guidance and natural encounters makes it a standout for nature lovers.
Bottom line: For serious wildlife enthusiasts and those wanting to see whales in their natural environment, this trip delivers an extraordinary experience.
$376.23 per person
6. Full Day Private Shore Tour in Cabo San Lucas from Cabo San Port
Number 6 offers a private, personalized experience tailored specifically for cruise ship passengers. The Full Day Private Shore Tour includes stops at The Arch, Parroquia San Lucas, and the Museum of Natural History, with plenty of photo opportunities and cultural insights. The tour begins right at the port, making it a hassle-free way to see Cabo’s highlights in a limited time.
This tour is ideal for cruise travelers who want a flexible, private experience without rushing. It offers a mix of natural wonders and cultural landmarks, making the most of your shore time. The 7-hour duration balances sightseeing with relaxation, and reviews highlight the friendly guides and seamless logistics.
Bottom line: Perfect for cruise guests wanting a private, customized day that hits all the key landmarks with minimal stress.
$492.68 per person
7. Full Day Fishing Charter in Cabo San Lucas
Finally, for anglers or those dreaming of a big catch, the Full Day Fishing Charter offers an all-inclusive, luxury experience. Up to six guests can enjoy eight hours of deep-sea fishing, targeting species like marlin, tuna, and dorado. The charter includes everything from equipment to drinks, with a crew dedicated to making your fishing trip successful.
While priced at $2,800 per group, it covers the boat, gear, and a personalized service, making it a premium option. Many reviews mention the comfort of the boat and the expertise of the crew, ensuring a productive day on the water. This experience is best suited for serious anglers or those who want a private, hassle-free fishing adventure.
Bottom line: If fishing is your passion and budget allows, this charter delivers a high-end, fully outfitted day on the water with expert guides.
$2,800.00 per group (up to 6)
How to Choose Your Perfect Cabo Full-Day Tour
Picking the right full-day tour depends on your interests, budget, and energy level. If comfort and customization are your priorities, the Full-Day La Paz Private Tour is hard to beat. For thrill-seekers, the off-road motorcycle adventure offers adrenaline and exploration. Wildlife lovers should consider the whale watching for a once-in-a-lifetime encounter.
If you’re short on time but want a comprehensive view of Cabo’s highlights, the Private Shore Tour offers a hassle-free way to see the essentials. And for those with fishing dreams, the luxury fishing charter delivers a premium experience.
Remember to book early, especially during peak seasons, and choose tours that match your physical ability and interests. Whether you prefer relaxing beaches, wildlife encounters, or high-energy adventures, Cabo’s full-day options are sure to leave you with lasting memories.
Cabo San Lucas is full of diverse opportunities for day-tripping. From eco-cruises to private tours, the options cater to every style and budget. If you’re undecided, consider your main interest—cultural exploration, adventure, wildlife, or relaxation—and pick accordingly. For example, families and culture enthusiasts might favor the private La Paz tour, while adventure lovers should look into the motorcycle ride or whale-watching trips.
No matter what you choose, remember that these experiences tend to fill up quickly in high season. Planning ahead ensures you won’t miss out on your top pick. Cabo’s full-day tours provide a fantastic way to see the region’s natural beauty and local culture in one packed, memorable day.