Udaipur, often called the “City of Lakes,” offers a rich tapestry of palaces, temples, and scenic waterways that make for unforgettable city tours. Its compact size and stunning architecture mean you can cover a lot in a day or two, and the variety of experiences available ensures there’s something for every traveler. We especially like tours that blend cultural sights with personalized touches, such as the private full-day city sightseeing, which gives you flexibility and insider access. If you’re eager to see the highlights comfortably, tours that include boat rides or off-the-beaten-path walks tend to stand out.
In this guide, we’ve ranked the 15 best city tours based on their uniqueness, reviews, and value. Whether you’re after a quick overview or a deep dive into Udaipur’s hidden corners, you’ll find options that fit your style and schedule.
1. Private Full-Day Udaipur City Sightseeing Tour with Optional Guide
At number 1, this private full-day tour offers everything a first-time visitor needs: a private driver, air-conditioned transport, and the flexibility to hire a guide at major sites. The itinerary covers the City Palace, Jagdish Temple, Bharatiya Lok Kala Mandal, and Gulab Bagh. Tour guide Firoz is praised for his knowledge and friendliness, making this a highly rated experience with a perfect 5-star review from 53 travelers. Guests appreciate how easy it is to customize the day—whether to buy snacks, take photos, or skip certain spots. The price, at just $23.50 per person, makes it excellent value for a comprehensive day in Udaipur. It’s ideal for those seeking a hassle-free, personalized introduction to the city.
Bottom Line: This tour is best suited for budget-conscious travelers who want a flexible, private experience that hits the major highlights.
2. Udaipur: Full Day Private City Tour with Optional Boat Ride
Ranking just behind, this full-day private tour offers a well-rounded experience, including the City Palace, Fatehsagar Lake, Jagdish Temple, and a scenic boat ride on Lake Pichola. For $58, you get the comfort of private transportation and the chance to see Udaipur’s best sites without rushing. The tour emphasizes culture, and the optional boat ride adds a relaxing view of the lakeside palaces. With 114 reviews and a 4.7/5 rating, travelers note how smoothly the day runs and praise the combination of sights and local insights. The boat ride, included optionally, is especially popular as it offers a different perspective of the city’s architecture.
Bottom Line: Perfect for travelers wanting a comprehensive, comfortable day with a relaxing boat cruise included.
3. 3 Days Private Udaipur City Tour With Kumbhalgarh Fort & Ranakpur Jain Temple
This three-day tour is the most extensive listed, offering a slow-paced exploration of Udaipur plus nearby major sights. The first day focuses on Udaipur’s highlights like the City Palace and lakes. The second day ventures out to Kumbhalgarh Fort, a UNESCO World Heritage site, and the Ranakpur Jain Temple with its intricate carvings. It provides private transport and personalized attention, with reviews praising the knowledgeable guides. At $125 per person, it’s a great way to see more while avoiding the hassle of planning. Guests love how it simplifies logistics and deepens understanding of Rajasthan’s culture.
Bottom Line: Best suited for travelers who want to explore at a relaxed pace and include nearby UNESCO sites without stress.
4. Full-Day Private City Tour of Udaipur Including Boat Ride in Lake Pichola
This private tour is a top choice for those wanting a full immersion, combining the City Palace, Jagdish Temple, and a boat cruise on Lake Pichola. For $92, you get the benefits of a private guide, entrance fees, and a boat ride—an experience that enhances the visual magic of Udaipur. The itinerary is detailed, with highlights like the folk arts at Bhartiya Lok Kala Mandal and visits to the Saheliyon ki Bari gardens. Tourists mention how the boat cruise offers a stunning perspective of the lakeside palaces. The included lunch makes this a good value for a full day of sightseeing.
Bottom Line: Ideal for travelers seeking a seamless, all-inclusive day with a memorable boat experience.
5. Udaipur City Tour With Kumbhalgarh Fort & Ranakpur Jain Temple Tour In 2 Days
This two-day tour combines Udaipur’s core attractions with a trip out to Kumbhalgarh Fort and the Jain temples of Ranakpur. Travelers looking to avoid rushing will appreciate the laid-back pace and private transport. The first day covers the City Palace and lakes, while day two explores the UNESCO site and the Jain complex, with reviews highlighting the personalized guidance and comfort. At $60 per person, it’s a cost-effective way to see more of Rajasthan’s treasures without sacrificing comfort or detail.
Bottom Line: Great for those with a bit of extra time who want a relaxed yet comprehensive experience outside the city.
6. Day Tour By Car and Driver Udaipur City with Guide
Ranked sixth, this customizable day tour features a private guide and car, including a short boat ride at own cost. The focus is on personalized exploration of City Palace, Jagdish Temple, and other highlights. With reviews praising the guide’s local knowledge and the smooth ride, it’s suited for travelers who want flexibility. The tour costs $50 per person, making it accessible for those who prefer a tailored experience.
Bottom Line: Best for travelers who want to control their itinerary but still enjoy expert guidance.
7. Udaipur: City Palace Museum Tour and Lake Pichola Boat Tour
This combo tour combines a private museum guide for the City Palace with a shared boat ride. It’s perfect for history lovers wanting to see inside the palace and enjoy a relaxing cruise. For $45, you get detailed insights into Udaipur’s royal past and a scenic boat trip across Lake Pichola. Reviewers mention the value of the private museum guide and how the boat tour offers great photo opportunities and a peaceful break. It’s ideal for travelers short on time but eager for a taste of both culture and scenery.
Bottom Line: A good pick for those who want a mix of museum exploration and lakeside relaxation.
8. Old City Street Photography E-bike Tour
This 2.5-hour e-bike tour is perfect for photography enthusiasts wanting to capture Udaipur’s authentic streets. Led by a professional visual artist, you’ll explore the old city’s winding alleys, ghats, and temples. The e-bikes make it easy to cover the labyrinthine streets without fatigue. Reviews rave about the storytelling and the chance to take 10 high-quality photos and a one-minute vlog. The price is $26, making it an affordable artistic adventure.
Bottom Line: Ideal for creative travelers who want to see the city through a camera lens and learn about local legends.
9. Udaipur Highlights: Private City Sightseeing guided tour
This shorter, private guided tour focuses on the highlights like City Palace and Jagdish Temple, combined with a market visit. At just $25 for up to 2 people, it’s a budget-friendly option for a quick overview. The emphasis is on experiencing local crafts and the city’s vibrant atmosphere. The tour suits those on a tight schedule or traveling solo who want a taste of Udaipur’s art and architecture.
Bottom Line: Best for travelers seeking an efficient, budget-friendly introduction to Udaipur’s main sights.
10. Udaipur City Full-Day Guided Sightseeing Tour
This full-day private tour offers a flexible, personalized itinerary including City Palace, Jagdish Temple, and shopping opportunities. At $70 per person, it balances comfort with customization. Reviewers mention the convenience of private transport and guides who share detailed stories. The tour is especially good for those wanting to learn about Udaipur’s cultural fabric while enjoying some leisure time for shopping and photos.
Bottom Line: Excellent for first-timers who want a tailored, relaxed day with a private guide.
11. Old city heritage walk and local life experience
This heritage walk at just $9 offers an intimate look into Udaipur’s old streets, temples, bazaars, and local customs. Led by a local, it provides an authentic taste of everyday life, including how marriages are arranged. It’s perfect for travelers interested in culture and exploring beyond the main sights. The small group size and focus on local stories make it a refreshing, budget-friendly outing.
Bottom Line: Best for curious travelers eager for a real, local experience on foot.
12. Private Udaipur City Tour With a Professional Guide and Chauffeur
This 8-hour private tour offers a rundown, including City Palace, Jagdish Temple, Jagmandir, and a vintage car museum. It’s suited for travelers who want a relaxed, all-in-one experience with a dedicated guide and chauffeur. Reviews highlight the knowledgeable guide and smooth logistics. At about $36.77 per person, it provides good value for a full day of sightseeing, perfect for those who want an in-depth exploration with no worries about transport or planning.
Bottom Line: Ideal for travelers seeking a thorough, private day with expert guidance.
13. Jaipur City Full Day Tour By Tuk-Tuk
While traditionally associated with Rajasthan’s capital, this Jaipur tuk-tuk tour at just $9.60 offers an intimate, fun way to see Jaipur’s landmarks like Amber Fort and Jantar Mantar. It’s a highly affordable, local-style experience that’s best suited for adventurous travelers who enjoy navigating busy streets on a small vehicle, with the added bonus of a local guide.
Bottom Line: Perfect for budget travelers seeking an authentic, lively ride through Jaipur’s streets.
14. Heritage Tour: Private Boat, Havelis, City Walk & High Tea
This heritage experience combines a private boat ride on Lake Pichola, a guided walk through old city’s havelis and bazaars, and relaxing high tea. At about 3 hours, it’s a sophisticated mix of scenery, culture, and leisure. The 45-minute boat ride offers a peaceful escape, while the curated city walk reveals secrets behind historic gates and temples. With a price of $29.84, it provides good value for travelers wanting a cultural class act.
Bottom Line: Great for those wanting a stylish, relaxed introduction to Udaipur’s heritage and waterways.
15. Udaipur Full Day Private Sightseeing City Tour with Guide
Our final pick is a full-day private tour that covers major attractions like City Palace, Jagdish Temple, and Sajjangarh Palace. It’s designed to be flexible, with a private guide and air-conditioned vehicle, ensuring comfort and expert insights. Reviewers note how this tour makes it easy to see the city’s highlights at your own pace for $68.94 per group, making it a practical choice for families or small groups who want to avoid the hustle.
Bottom Line: Perfect for those seeking a complete, personalized Udaipur experience with a focus on cultural and scenic sights.
How to Choose the Perfect Udaipur City Tour
When selecting your ideal Udaipur tour, consider your budget, timeframe, and what interests you most. For a quick, affordable overview, the Old City Heritage Walk or the Highlights Guided Tour fit well. If you prefer a more relaxed, comprehensive experience with boat rides, the Full-Day Private City Tour with Boat is excellent. Those eager to explore beyond Udaipur’s limits should consider the 3-Day Tour with Kumbhalgarh Fort.
Think about your fitness level—e-bike or heritage walks are perfect for active explorers, while private car tours suit those who want comfort. Booking early secures your spot, especially during peak seasons like winter or holidays. Overall, Udaipur offers a variety of ways to connect with its unique charm—pick what matches your travel style and enjoy every moment.
Udaipur’s blend of lakes, palaces, and lively streets means you can tailor your experience to be as relaxed or as adventurous as you like. Whether choosing an intimate heritage walk, a full-day private tour, or a scenic boat cruise, the city promises unforgettable memories. For most visitors, a mix of cultural insight and scenic beauty is key—so consider a tour that combines both, like the Private Full-Day with Boat Ride. Book early, and get ready to enjoy the magic of Udaipur’s lakeside splendor.