Last Updated : Nov 06, 2025 | Author : Tanya Parsad | View Count : 1533 | Read Time : 6 min

7 Day Rajasthan Tour Itinerary: A Luxurious Introduction to the Royal State

I've planned dozens of trips to India over the years, but there's something about Rajasthan that keeps drawing me back. Stunning architecture, rich culture, and luxury palace hotels which were actually home to royalty– what more could a first-time visitor to India ask for? After several trips refining the route, I've settled on what I think is the perfect 7 day Rajasthan tour itinerary

What's the best Rajasthan itinerary for a first-time US visitor

A perfect 7 day Rajasthan tour itinerary covers the royal triangle of Jaipur, Jodhpur, and Udaipur. Start with two nights in Jaipur exploring Amer Fort, City Palace, and shopping the famous bazaars while staying at the Taj Rambagh Palace. Continue to Jodhpur for two nights at Umaid Bhawan Palace, visiting the massive Mehrangarh Fort and the blue city. End with two nights in Udaipur at the Oberoi Udaivilas, touring the City Palace and enjoying a private sunset cruise on Lake Pichola.

Table of Contents:

Day 1: Your Royal Rajasthan Journey Begins

Jaipur is your gateway to Rajasthan, and getting there from the US is pretty straightforward. Most travelers fly into Delhi’s IGI airport (direct flights from major US cities), then drive about 3-4 hours to Jaipur. Having a professional chauffeur-driven car will make sure your journey is smooth, hire one from a reputable travel agency. There's also the option of flying into Mumbai and connecting to Jaipur, but Delhi tends to work better for most itineraries.

I always recommend arriving in Jaipur in the morning if possible. This gives you the whole day to settle in and adjust to the time zone difference if you’re not resting in Delhi already. After 20+ hours of travel, you need time to decompress.

I frequent Jaipur for business, and a stay at Taj Rambagh Palace impresses me every single time. It was the actual residence of the Maharaja of Jaipur until 1957. The property is maintained beautifully, with peacocks roaming the gardens and staff who understand hospitality at a level you don't find in regular hotels.

TL;DR: Fly into Delhi and drive 3-4 hours to Jaipur, giving yourself a full day to settle in and adjust to the time zone.

Day 2: Exploring the Pink City's Treasures

After a good first rest day, you can start early with the Amer Fort, best experienced in the morning before the heat and crowds come up. About 20 minutes from the city center, this hilltop fort complex is grand. You could easily spend half a day exploring its courtyards, palaces, and temples. The views from the fort over Maota Lake, with the Jal Mahal (water palace) floating right in its center, and the surrounding hills are spectacular.

Next I recommend heading to the Old Walled City, where you’ll find the City Palace. This is where the current royal family still lives (in a private section of course), so you're visiting an active palace, not a museum. The courtyards showcase different architectural styles, and the museum has an incredible collection of royal artifacts.

Right next to City Palace is Jantar Mantar, an 18th-century astronomical observatory. Those impressive stone instruments still work and were incredibly advanced for their time. It's UNESCO-listed for good reason!

End your day at Hawa Mahal (Palace of Winds), its facade with its 953 windows is iconic. The best photos are from across the street, especially in the late afternoon.

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Day 3: From Pink City to Blue

The Pink City’s heritage is not limited to just architecture, its craftsmanship is some of India’s most exquisite. Shop at its famous markets– Johari Bazaar for kundan jewelry and textiles, & Bapu Bazaar for some great handicrafts. My favorites are the colorful block-printed fabrics and blue pottery, which Jaipur is famous for.

If you have time, visit the Albert Hall Museum too, known for its good collection of Rajasthani arts and crafts. The building itself is beautiful Indo-Saracenic architecture.

After an indulgent lunch, begin your drive to Jodhpur. The route takes about 5 hours, but I break it up with a stop in Ajmer if time permits, or just enjoy the landscapes. Having a professional chauffeur-driven car certainly helps.

You’ll arrive in Jodhpur by evening and check into your hotel– I love the Umaid Bhawan Palace. This is one of the most impressive palace hotels in the world and the current royal family still lives in part of the palace.

TL;DR: Shop Jaipur's famous markets for kundan jewelry, block-printed fabrics, and blue pottery.

Day 4: Exploring Jodhpur's Desert Majesty

Jodhpur centers around the Mehrangarh Fort, one of the largest and most impressive forts in India. I always recommend starting here early in the morning. The fort sits 400 feet above the city, and the views are spectacular.

After the fort, explore the blue city below, best done with a private guided heritage walk tour. After lunch, visit Jaswant Thada, a gorgeous white marble memorial to Maharaja Jaswant Singh II. It's peaceful after touring the fort and city, and the marble work is quite intricate.

Spend your evening at your hotel– the Umaid Bhawan Palace has beautiful gardens, a spa, and the world's largest private residence museum section.

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Day 5: The Scenic Route to Udaipur

You can relax in the morning or visit any more sights you missed yesterday. Begin your drive to Udaipur around noon– this is possibly the longest drive of your trip (about 5-6 hours), but watching the landscapes go from desert-y to lush hills is a journey in itself.

You can break the journey with lunch at the highway restaurant & arrive in Udaipur by early evening. The Oberoi Udaivilas here is my favorite hotel in all of India. Built in traditional Rajasthani style around courtyards and waterways, it is no less than a palace.

The hotel sits on the banks of Lake Pichola with unobstructed views of the City Palace and the Taj Lake Palace (another one of my favourites). I recommend spending your evening relaxing after the long drive, maybe with dinner on the hotel's terrace overlooking the lake.

Day 6: Palaces, Temples & Sunset on Water

Udaipur earned its nickname "City of Lakes" for good reason, and the best way to explore the city is from the water. But start on land with City Palace, a royal complex overlooking Lake Pichola. This palace took over 400 years to build, with different rulers adding sections, so the architecture displays a variety of periods.

After the palace, visit the Jagdish Temple, a major Hindu temple with intricate stone carving. Even if you're not particularly interested in temples, the craftsmanship is impressive.

The highlight of your day is a private sunset cruise on Lake Pichola- your luxury travel agency can arrange this. The sunset over the Aravalli Hills with the palaces silhouetted against the sky is magical.

Day 7: Farewell to Rajasthan's Royal Splendor

The last day of your Rajasthan trip in 7 days ought to be relaxed. I prefer having a leisurely breakfast over sleeping in. The Udaivilas has a beautiful spa too if you want to end your trip with a traditional treatment, or just relax by the pool with those incredible lake views.

Check out around noon and head to Udaipur airport for your afternoon flight to Delhi (about 1.5 hours). Most international flights to the US leave Delhi in the evening or late night, giving you enough time for the connection. If you have a long layover, Aerocity in Delhi is quite close to the airport and has a bunch of great stay options.

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FAQs

1. What's the best time to visit Rajasthan for this itinerary?
October through March is ideal for touring most of North India. The weather is pleasant (60-80°F) and comfortable for sightseeing. I avoid April through September because temperatures can hit 110°F or higher, which makes exploring forts and palaces pretty miserable.

2. Do I need a visa for India, and how does that work for US travelers?
Yes, US citizens need a visa for India. I always apply for the e-Visa online, which is straightforward and gets approved within a few days usually. Apply at least a week before your trip to be safe. The tourist e-Visa allows stays up to 90 days, which is plenty for this itinerary.

3. Can I do this itinerary independently or should I book through a travel agency?
You can absolutely do it independently if you're comfortable with travel logistics. But working with a luxury Indian travel agency simplifies everything, especially for first-time visitors. They handle the car transfers, book the best guides, and provide 24/7 support if anything goes wrong. The bespoke planning takes the stress out of coordinating between cities and ensures you get the most out of each day.