Rajasthan itinerary guide: Plan your perfect royal escape

Explore the ultimate Rajasthan itinerary options for 5, 7, or 10 days covering Jaipur, Udaipur, Jaisalmer, Jodhpur, and more. Heritage, desert safaris, palaces, food, and festivals – create your dream Rajasthan tour plan now.

There’s a part of Rajasthan that never leaves you. It stays behind, tucked into the folds of your memory like grains of desert sand caught in your shoes. Maybe it’s the way the wind murmurs through Jaisalmer’s havelis, or how dusk settles like gold dust over Udaipur’s lakes. Or perhaps it’s the stories of queens and warriors, poets and nomads, that echo through sandstone walls and temple bells.

In Rajasthan, history doesn’t wait behind velvet ropes. It walks beside you in the streets, dances in the swirls of a Rajasthani skirt, and simmers in the spice of every meal. Palaces rise like dreams, markets pulse with life, and silence in the desert feels sacred.

So whether you’re wandering through royal courts in Jaipur, chasing sunrises in the Thar, or savoring the slow rhythm of a lakeside town, this place will stir something in you.

And that’s where this guide comes in.
Whether you have 5 days, 7 days, or 10, this Rajasthan itinerary will help you map a journey through desert cities, hidden corners, and timeless traditions.

Why you should visit Rajasthan

Rajasthan itinerary guide: Plan your perfect royal escape

Because nowhere else in India is there history like it is there in Rajasthan. This is a land built by kings, poets, traders, and warriors—where every fort has a tale of pride, and every street hums with old-world rhythm.

Rajasthan is not just a state; it’s a storybook of India’s most vivid chapters.
It’s where you’ll sip masala chai inside a palace once ruled by Maharajas.
It’s where you’ll ride camels across dunes that stretch into forever, and watch folk dancers twirl flames under desert stars.

A well-crafted Rajasthan tour plan lets you experience the state’s many moods:

Heritage: Towering forts like Mehrangarh and Amber still hold echoes of royal footsteps.
Palaces: From Udaipur’s floating marvels to Jaipur’s grand City Palace, opulence lives on.
Deserts: Jaisalmer’s golden sands and the starry silence of Thar are unforgettable.
Food: Bold, unapologetic flavors—Laal Maas, Ker Sangri, Ghevar—tell stories of survival and celebration.
Festivals: Watch Pushkar light up with a thousand camels or join Holi as it bursts through the streets of Udaipur.

And then there are the cities. Each one a mood, a moment:

Jaipur, where the past wears pink.
Udaipur, where lakes mirror palaces.
Jodhpur, a sea of blue under a crimson fort.
Jaisalmer, where every sunset turns gold.
Pushkar, holy and bohemian.
Bikaner, rugged yet regal.

Whether you’re after romance, culture, thrill, or stillness, Rajasthan offers a version of itself just for you.

How to plan a Rajasthan trip

Planning a trip to Rajasthan is like curating a playlist; you want the perfect mix of tempo, emotion, and mood. One city may dazzle with its grandeur, another may soothe you with silence. The key is balance: don’t rush it, don’t overdo it, let Rajasthan unfold slowly.

Best time to visit Rajasthan

The state transforms with the seasons.

October to March: The golden window. Cool weather, vibrant festivals, and perfect for desert adventures.
April to June: Hot and intense—ideal only if you’re sticking to the hill station of Mount Abu or taking advantage of offseason deals.
July to September: The monsoon paints the Aravallis green. Fewer crowds, great for offbeat explorations, though not ideal for desert experiences.

How to reach Rajasthan

By air:

Jaipur, Udaipur, and Jodhpur are your main flight entry points. All three connect well to Delhi, Mumbai, Kolkata, Bangalore, and other major cities.
If you’re coming from abroad, Delhi or Mumbai are best for international connections, then take a domestic flight into Rajasthan.

By train:

Rajasthan is rail-rich. Trains like the Shatabdi, Rajdhani, and Express lines link Delhi, Mumbai, and even Chennai to major Rajasthani cities.

By road:

Rajasthan’s highways are smooth, well-marked, and ideal for road trips. Self-drive or hire a car with a driver for comfort and local insight.

Local transportation

Within cities: Use rickshaws, local cabs, or walking tours in the old quarters. In Jaipur and Udaipur, apps like Ola and Uber are reliable.
Between cities: Hire a private taxi or use trains for longer distances. Buses are available, but it’s best to reserve them for shorter trips.

Top destinations in Rajasthan

Rajasthan isn’t a place you visit—it’s a place you feel.
Every city in this vast desert state has its heartbeat, its flavour, its voice. From lakes that shimmer at dawn to forts that still whisper stories of love and war, each destination adds something unique to your journey.

Here’s your essential guide to the most iconic and enriching places to include in your Rajasthan itinerary:

Destination	Known For	Must-See Attractions	Suggested Duration	Ideal For
Jaipur	Forts, palaces, markets, architecture	Amber Fort, Hawa Mahal, City Palace, Jantar Mantar	2–3 Days	First-timers, history lovers
Udaipur	Lakes, romance, heritage walks	City Palace, Lake Pichola, Jag Mandir, Bagore Ki Haveli	2–3 Days	Couples, culture seekers
Jaisalmer	Sand dunes, living fort, havelis	Jaisalmer Fort, Patwon Ki Haveli, Sam/Khuri desert camps	2–3 Days	Adventurers, photographers
Jodhpur	Blue city charm, massive fort, crafts	Mehrangarh Fort, Jaswant Thada, Clock Tower Market	2 Days	Architecture buffs, foodies
Pushkar	Spiritual vibe, lakeside town, camel fair	Pushkar Lake, Brahma Temple, Savitri Temple	1 Day	Spiritual travelers, offbeat fans
Bikaner	Forts, sweets, camel research center	Junagarh Fort, Karni Mata Temple, Rampuria Havelis	1–2 Days	Heritage lovers, road-trippers
Mount Abu	Hill station, Jain temples, sunset points	Dilwara Temples, Nakki Lake, Sunset Point	1–2 Days	Nature lovers, summer travelers

Jaipur – The pink city

Vibe: Regal yet buzzing, modern yet steeped in tradition.
Why go: Jaipur is where Rajasthan begins for many travelers—and rightly so. The city is a celebration of grandeur: think rose-hued forts, royal courtyards, and bustling bazaars that sell everything from block-printed kurtas to camel leather journals.

Don’t miss:

Amber Fort and its hilltop views
Hawa Mahal, a five-storey wind palace
City Palace and the royal museum
Bapu and Johari Bazaar for handicrafts and gemstones
A traditional thali at a local haveli or rooftop restaurant

Local tip: Wake up early and head to Nahargarh Fort for a sunrise view over the entire city.

Udaipur – The city of lakes

Vibe: Romantic, reflective, and timeless.
Why go: Udaipur feels like it was built for slow travelers. With its winding streets, lakeside cafés, and art-filled palaces, it offers the softer, poetic side of Rajasthan. Sunsets here feel like paintings, and the city’s rhythm invites you to linger.

Don’t miss:

City Palace and the Crystal Gallery
Boat ride on Lake Pichola, especially at sunset
Jag Mandir and Jag Niwas (Taj Lake Palace)
Saheliyon Ki Bari (Garden of the Maidens)
Art galleries and miniature painting workshops

Local tip: Spend an evening at Bagore Ki Haveli for a traditional folk dance performance.

Jaisalmer – The golden city

Vibe: Dreamlike, ancient, and cinematic.
Why go: Rising like a mirage from the Thar Desert, Jaisalmer is Rajasthan in its rawest form. The living fort still houses families, shops, and guesthouses, and beyond the city walls lie sweeping dunes, camel safaris, and desert nights under starlit skies.

Don’t miss:

Jaisalmer Fort and its narrow golden alleys
Patwon Ki Haveli and Nathmal Ki Haveli
Gadisar Lake for a morning walk
Camping in Sam or Khuri dunes
Evening folk music by local Manganiyar musicians

Local tip: Visit Kuldhara, the abandoned village nearby, at dusk for a hauntingly beautiful experience.

Jodhpur – The blue city

Vibe: Bold, artistic, and full of contrast.
Why go: Towering above a sea of indigo houses, Mehrangarh Fort stands as one of India’s most majestic strongholds. But it’s not just about the fort—Jodhpur offers a vibrant urban rhythm, incredible food, and streets that are perfect for getting lost.

Don’t miss:

Mehrangarh Fort and Rao Jodha Desert Park
Jaswant Thada, the marble cenotaph
Toorji Ka Jhalra (stepwell café scene)
Clock Tower market and local spice shops
Mishrilal’s famous Makhaniya lassi

Local tip: Catch the view of the blue houses from the fort’s ramparts early in the morning when the city is still waking up.

Pushkar – Sacred and surreal

Vibe: Spiritual, bohemian, and quietly vibrant.
Why go: One of the oldest existing cities in India, Pushkar is both a pilgrimage site and a backpacker haven. The lake at its heart reflects temples, ghats, and life moving in slow motion. It’s also the best place to catch a different side of Rajasthan—less royal, more soulful.

Don’t miss:

Brahma Temple, one of the very few in the world
Pushkar Lake and evening aarti by the ghats
Savitri Temple at sunrise or via cable car
Café hopping, live music, and yoga workshops
The iconic Pushkar Camel Fair (if timing permits)

Local tip: Explore the side alleys behind the lake to find some of Pushkar’s best street art and spiritual murals.

Bikaner – Desert frontier

Vibe: Gritty, lesser-known, and full of character.
Why go: Bikaner may not have the polish of Jaipur or Udaipur, but it has a raw beauty that draws those looking for something offbeat. Here, you’ll find camel farms, spicy snacks, red sandstone forts, and a taste of the old desert trade routes.

Don’t miss:

Junagarh Fort with its detailed interiors
The National Research Centre on Camels
Karni Mata Temple (aka the Rat Temple) in nearby Deshnok
Bikaneri bhujia and local sweets like rasgullas
Rampuria Havelis and their intricate facades

Local tip: Visit a local halwai (sweet shop) early in the morning—the flavors here are untouched by time.

Mount Abu – Rajasthan’s only hill station

Vibe: Cool, breezy, and quietly spiritual.
Why go: Mount Abu is where the desert pauses and the hills begin. It’s the perfect place to escape the heat, watch the mist roll over green hills, and marvel at the marble perfection of the Dilwara Temples.

Don’t miss:

Dilwara Jain Temples—extraordinary carving detail
Nakki Lake and a boat ride at dusk
Sunset Point for panoramic valley views
Guru Shikhar, the highest peak in Rajasthan

Local tip: Mount Abu has a different rhythm. Stay in a quiet colonial-era homestay and just walk.

Add-on experiences (if you have extra time)

Ranthambore: A tiger safari in this national park near Sawai Madhopur offers an exciting break from palaces and forts.
Bundi: A sleepy town with fewer tourists, home to gorgeous stepwells and the haunting Taragarh Fort.
Mandawa: Perfect for art and architecture lovers, with painted mansions that speak of a rich merchant past.
Chittorgarh: The largest fort in India. Walk its ramparts and feel the weight of its stories—of heroism, loss, and pride.

Every city in Rajasthan tells a different story—don’t just read about them, live them.

Rajasthan itinerary for 5 days – A quick royal getaway

Route: Jaipur – Jodhpur – Udaipur
This 5-day Rajasthan itinerary is perfect for those who want a compact taste of Rajasthan’s regal charm. It’s fast-paced but well-balanced, with just enough time to capture forts, lakes, markets, and sunsets.

Day 1 – Jaipur: The pink prelude

Start in the capital city of Rajasthan.

Begin your morning at Amber Fort, where history and architecture collide above the hills.
Head back into town to admire the honeycomb-like façade of Hawa Mahal, then explore the royal chambers of the City Palace.
In the evening, lose yourself in Johari Bazaar—a labyrinth of bangles, textiles, and street snacks.

Tip: Don’t miss a kulfi or lassi from LMB while exploring the markets.

Day 2 – Jaipur to Jodhpur (5–6 hours by road/train): Into the blue

Leave Jaipur early and head to the Blue City.

Arrive by afternoon and head straight to the majestic Mehrangarh Fort, a colossal beauty with panoramic views.
Walk down to the serene Jaswant Thada, a white-marble cenotaph that often gets overlooked.
Stay in a heritage haveli near the Clock Tower, and explore the buzzing Sardar Market.

Optional: If time permits, visit Rao Jodha Desert Rock Park for sunset.

Day 3 – Jodhpur to Udaipur (5 hours, via Ranakpur)

Hit the road early and stop mid-way at the serene Ranakpur Jain Temples—a marble marvel hidden amidst the Aravallis.
Reach Udaipur by late afternoon, just in time for a relaxing lakeside chai.

Local insight: The forested drive between Ranakpur and Udaipur is stunning post-monsoon.

Day 4 – Udaipur: Palaces and reflections

Begin your day at the City Palace, an enormous complex with balconies that open out to Lake Pichola.
Visit the Jagdish Temple, then stroll through the flower-laced gardens of Saheliyon Ki Bari.
Wrap up with a sunset boat ride on Lake Pichola—watch the sky catch fire behind Jag Mandir.

Dine suggestion: Try Ambrai or Upre for a romantic lakeside dinner.

Day 5 – Leisure in Udaipur & departure

Spend your last day soaking in Udaipur’s elegance.

Pick up souvenirs from Hathi Pol or Shilpgram.
Sip coffee in an art café. Write postcards. Let the pace slow down.
Depart from Udaipur by afternoon or evening.

Rajasthan itinerary for 7 days – The classic circuit

Route: Jaipur – Pushkar – Jodhpur – Udaipur

This one-week plan offers the best of Rajasthan—palaces, ghats, desert hues, and soulful towns. It’s the perfect circuit for a first-time visitor wanting history, culture, and the occasional surprise.

Day 1 – Jaipur: Royal introductions

Visit Amber Fort in the morning, followed by Jantar Mantar and City Palace.
Enjoy authentic Rajasthani cuisine at a traditional thali restaurant.

Day 2 – Jaipur (local immersion)

Try an art or block-printing workshop in Sanganer or Bagru.
Explore the lesser-known Albert Hall Museum and sip chai on MI Road.
In the evening, enjoy a rooftop dinner with a view of the Nahargarh Fort.

Day 3 – Jaipur to Pushkar (3-hour drive)

Arrive in Pushkar by noon.
Visit the sacred Pushkar Lake and Brahma Temple.
Take the cable car or hike up to Savitri Temple for a panoramic sunset over the desert town.

Evening tip: Sit by the ghats as musicians gather at twilight—raw and unforgettable.

Day 4 – Pushkar to Jodhpur (4-hour drive)

Leave after breakfast.
Arrive in Jodhpur by afternoon and relax with a stroll through the old town.
Visit Toorji Ka Jhalra and grab a coffee at the stepwell café.

Day 5 – Jodhpur full-day

Explore Mehrangarh Fort, Mandore Gardens, and Umaid Bhawan Palace.
Watch craftsmen at work in the clock tower market or take a food walk in the old lanes.

Day 6 – Jodhpur to Udaipur (via Kumbhalgarh Fort)

Detour through the mighty Kumbhalgarh Fort, known for its 36-km long wall.
Reach Udaipur by evening and unwind by the lake.

Day 7 – Udaipur + Departure

Explore more of Udaipur’s old town or enjoy a final boat ride.
Depart with a suitcase full of stories.

Rajasthan itinerary for 10 days – The royal experience

Route: Jaipur – Bikaner – Jaisalmer – Jodhpur – Udaipur – Mount Abu

This 10-day Rajasthan tour is for travelers who want it all—forts, deserts, cities, and even a hill station escape. It’s a deep dive into the regal soul of the state, packed with variety and offbeat gems.

Day 1 – Jaipur

Explore Amber Fort, Hawa Mahal, and City Palace.
Head to Chokhi Dhani for a cultural night with dance, food, and folklore.

Day 2 – Jaipur (markets & museums)

Walk through Bapu Bazaar, Tripolia, and enjoy rooftop brunches.
Visit the Anokhi Museum of Hand Printing for a craft-focused detour.

Day 3 – Jaipur to Bikaner (6-hour drive)

Arrive in Bikaner and check in to a heritage haveli.
Explore Junagarh Fort, and visit the famous Bikaneri Bhujia shops.
Optional: See the Karni Mata Rat Temple in nearby Deshnok.

Day 4 – Bikaner to Jaisalmer (via desert drive)

A scenic journey through arid landscapes.
Arrive in Jaisalmer by evening for a glimpse of the glowing fort.

Day 5 – Jaisalmer desert experience

Explore the living Jaisalmer Fort, Patwon Ki Haveli, and Gadisar Lake.
In the evening, head to Sam or Khuri for a camel safari and sleep under the stars in a desert camp.

Day 6 – Jaisalmer to Jodhpur

Arrive by afternoon and visit the old city’s stepwells, local artisans, and spice markets.
Dine at Indique or Raas for a view of Mehrangarh lit up at night.

Day 7 – Jodhpur

A full day for Mehrangarh Fort, Jaswant Thada, and Rao Jodha Desert Rock Park.
Optional: Try a zipline adventure near the fort.

Day 8 – Jodhpur to Udaipur (via Ranakpur)

Visit the intricately carved Ranakpur Jain Temples on the way.
Reach Udaipur for a relaxed evening by Lake Pichola.

Day 9 – Udaipur full-day

Discover City Palace, Jagdish Temple, and enjoy a sunset boat ride.
Explore cafés, art boutiques, and handloom stores in the old town.

Day 10 – Udaipur to Mount Abu (3-hour drive)

Visit Nakki Lake, Sunset Point, and Dilwara Temples.
Relax in the hills after your royal whirlwind through Rajasthan.

Not sure which route is right for you? Let’s turn this plan into your perfect journey.

Where to Stay in Rajasthan

City	Luxury	Mid-Range	Budget
Jaipur	Rambagh Palace	Alsisar Haveli	Zostel Jaipur
Udaipur	Taj Lake Palace	Jagat Niwas Palace	Banjara Hostel
Jodhpur	Umaid Bhawan Palace	Ratan Vilas	HosteLaVie Jodhpur
Jaisalmer	Suryagarh	Fifu Guest House	Moustache Hostel
Bikaner	Narendra Bhawan	Harasar Haveli	Hotel Sagar

Your Rajasthan story begins now

Rajasthan isn’t just a destination—it’s a feeling you carry long after you’ve left its deserts, palaces, and bazaars behind.

Whether you’ve traced the footsteps of royalty in Jaipur, watched the sun sink behind the dunes of Jaisalmer, or wandered aimlessly through Udaipur’s art-stained alleys, every moment here adds a line to your personal travel story.

And the best part? You get to choose how it unfolds.
A 5-day whirlwind through heritage cities, a 7-day cultural immersion, or a 10-day royal odyssey—your Rajasthan itinerary is yours to shape.

The roads are open. The forts are waiting. The stories are ready to meet you.

Ready to turn this plan into reality?

Talk to a Rajasthan Travel Planner Now

Call us at ‪+91 33 40525777‬ / ‪+91 833 697 8737‬

Email us at connect@flyingsquirrelholidays.com

FAQs

1. What is the best Rajasthan itinerary for 7 days?

A classic Rajasthan itinerary for 7 days includes Jaipur, Pushkar, Jodhpur, and Udaipur. Start with the royal charm of Jaipur, explore the spiritual and bohemian vibes of Pushkar, dive into the blue alleys of Jodhpur, and unwind by the lakes of Udaipur. It offers a perfect mix of culture, architecture, food, and scenic beauty.

2. Can you cover Jaipur, Jodhpur, and Udaipur in 5 days?

Yes, but keep it tight and efficient. A Rajasthan itinerary for 5 days with Jaipur, Jodhpur, and Udaipur is doable with early starts and pre-booked transfers. Limit the sightseeing to the must-see highlights in each city and focus on experiences like fort visits, local food, and one signature activity per destination (e.g., a boat ride in Udaipur or market stroll in Jodhpur).

3. What’s the best route for a 10-day Rajasthan tour?

The ideal Rajasthan itinerary for 10 days follows this route: Jaipur → Bikaner → Jaisalmer → Jodhpur → Udaipur → Mount Abu. This lets you cover iconic forts, palaces, sand dunes, and even end on a peaceful note in the hills. Add offbeat stops like Ranakpur or Kumbhalgarh if you prefer quieter experiences.

4. When is the best time to visit Rajasthan?

October to March is the best time to visit Rajasthan. The weather is pleasant, most festivals take place during this period, and you can explore the desert without extreme heat. Avoid May–June unless you’re heading to Mount Abu or want off-season rates.

5. Is Rajasthan safe for solo travelers and women?

Yes, Rajasthan is generally safe for solo travelers, including solo women. Stick to popular routes and cities, dress modestly, and avoid walking alone late at night in isolated areas. Locals are helpful, and many accommodations cater specifically to solo and female travelers.

6. Should I book a Rajasthan tour package or travel independently?

It depends on your travel style. If you’re short on time or prefer convenience, a Rajasthan tour package can be a great choice. But if you enjoy flexibility, photography, or discovering hidden gems, an independent trip with local bookings and day-wise planning gives you more freedom.

7. What are the must-try local experiences in Rajasthan?

Camel safari in Jaisalmer
Block printing in Jaipur or Bagru
Sunset boat ride on Lake Pichola
Folk music performance in the desert
Visiting a local market and tasting Rajasthani snacks
Staying in a heritage haveli or palace hotel