I recently came home from one of the best trips of my life. There. I said it. And all you’ll need to follow along is this 3-week Rajasthan itinerary.

I went on a group tour to India with Joker, a Belgian travel agency (website only available in Dutch and French).

Related: 10 tips for your first group tour

The tour comprised just over three weeks travelling around India’s most popular region among travellers: Rajasthan.

And now, I’m here to share the joy and give you the information you need for a kick-ass road trip through this region. Ladies, gentlemen and non-binary folk: this is the perfect 3-week Rajasthan itinerary.

Note: I won’t tell you exactly when to go where on your Rajasthan road trip. It’s very difficult – if not impossible – to completely plan a trip to India beforehand.

What I will do in this post, however, is this:

• Recommend a certain amount of time to spend in each individual place;
• List the main highlights of each city;
• Propose a means of transport to get to your next road trip stop.

Skip ahead if you want to:

• Why travel to Rajasthan?
• Road trip through Rajasthan: the perfect Rajasthan itinerary (Jaipur – Jaisalmer – Jodhpur – Udaipur – Agra – Delhi – Rishikesh)

Before we get started, take a look at this video I made to get a feel of what India is actually like.

Why travel to Rajasthan?

There are many reasons why you should consider a trip to India’s crown jewel region. Here are just a few of them.

Thanks to Rajasthan’s fascinating history of wealthy royals and architectural legacy, impressive palaces, forts and temples are spread throughout the region, each one more breathtaking than the last.

Among the Indian population, Rajasthan is known as one of the most traditional and religious areas of the country. That explains the many energetic festivals that occur throughout the year. Diwali, Holi, Teej … The list goes on and on.

And while Rajasthan is frequented by travellers for its history and culture, an afternoon strolling through the big city bazaars can’t be missing from your Rajasthan itinerary. Pottery, clothing, souvenirs, jewellery or spices: whatever it is you’re looking for, you can find it in the bazaars.

Last, but definitely not least: the state of Rajasthan is often remembered for its exciting wildlife encounters. National parks, which were originally used as hunting grounds for the state’s rulers, are sprinkled through Rajasthan and now serve and wildlife sanctuaries.

Road trip through Rajasthan: the perfect Rajasthan itinerary

Stop 1: Jaipur

The perfect Rajasthan road trip starts in Jaipur, the state’s mighty capital city.

Also known as the Pink City for the many shades of pink, red and amber that are present in the fortified city centre, Jaipur was declared an UNESCO World Heritage Site in 2019.

What to do in Jaipur:

• Attend the Teej Festival (late July to early August);
• Visit Birla Mandir at night;
• Visit the City Palace with a government guide;
• Learn about astronomy at Jantar Mantar (with a guide);
• Admire the outside of Hawa Mahal (‘the Palace of Winds’);
• Check out a Bollywood movie at the iconic Raj Mandir movie theatre.

How long to stay in Jaipur: Four days in the capital of Rajasthan is an absolute minimum to see everything the city has to offer.

How to get from Jaipur to Jaisalmer: Take the night train from Jaipur Railway Station to Jaisalmer Railway Station. Book tickets on the Indian Railway’s official website.

Stop 2: Jaisalmer

After catching the sleeper train from Jaipur, you’ll arrive at Rajasthan’s Golden City, Jaisalmer.

This city is located at the heart of the Thar Desert and is known for the yellow sandstone that is used in many of its buildings, including the impressive Jaisalmer Fort.

What to do in Jaisalmer:

• Visit Jaisalmer Fort (save money by getting an audio guide instead of paying a guide);
• Stroll through the winding alleys in and around the fort and shop for souvenirs;
• Have a drink by Gadisar (Gadsisar) Lake;
• Go on a desert safari and sleep under the stars. (We went with Renuka Camel Safari and I can’t recommend them enough. Don’t forget to bring toilet paper, by the way.)

How long to stay in Jaisalmer: Three days and three nights, including one night in the desert, is plenty to discover Jaisalmer in all of its glory.

How to get from Jaisalmer to Jodhpur: Take a regular, direct train from Jaisalmer Railway Station to Jodhpur Junction. Book tickets on the Indian Railway’s official website.

Stop 3: Jodhpur

After your adventurous desert safari in Jaisalmer, it’s time to head back to big city life.

Jodhpur is Rajasthan’s second biggest city. It’s known among travellers as the Blue City and among Indian residents as the Sun City. Must be worth a visit, right?

What to do in Jodhpur:

• Visit Mehrangarh Fort with a government guide and attend a traditional music ceremony;
• Experience a zip line adventure between hill forts and ridge tops at the Flying Fox (inside Mehrangarh Fort);
• Visit Jaswant Thada (without a guide);
• Spend a relaxing evening on a rooftop overlooking the Fort;
• Walk through Sardar Market;
• Admire Ghanta Ghar – the local clock tower – from the outside.

How long to stay in Jodhpur: Anywhere between two and four days should suffice, counting on a full day to explore the Fort and everything around it.

How to get from Jodhpur to Udaipur: Take an early bus to Udaipur, preferably one that leaves Jodhpur before 6 am. The journey to Udaipur should take 4 to 5 hours.

Stop 4: Udaipur

With nicknames such as ‘the City of Lakes’ and ‘the Venice of the East’, it’s no wonder that British explorer James Tod called Udaipur ‘the most romantic spot on the continent of India‘.

You’ll soon find out for yourself why Udaipur has such a strong reputation among travellers.

What to do in Udaipur:

• Visit Jagdish Mandir and use it as a viewpoint for Teej festivities on the streets down below;
• Visit the City Palace and take a plunge in the hotel’s swimming pool for some cooling down (the hotel is called Shiv Niwas Palace and the reception desk is inside the Palace; walk up and ask how much it would cost to swim in their pool and they’ll give you a price – and towels);
• Learn to make dal, chapati and curry in a traditional Indian cooking class;
• Attend a Dharohar Folk Dance Show;
• Take a painting class;
• Splurge at the Celebration Mall (why not go for another Bollywood experience here?);
• Spend a night at Krishna Ranch;
• Take a guided walk to the Lake Badi viewpoint (just ask Dinesh at Krishna Ranch).

How long to stay in Udaipur: Including the night at Krishna Ranch, you should stay in Udaipur anywhere from three to five days.

How to get from Udaipur to Agra: Take the sleeper train from Udaipur City to Agra Cannt. Book tickets on the Indian Railway’s official website.

Stop 5: Agra

I know, I know. Agra is not located in Rajasthan. So, technically, I lied by calling this a Rajasthan itinerary.

You’ll forgive me once you feast your eyes on the Taj Mahal. Trust me.

What to do in Agra:

• Visit Agra Fort with a government guide and ask them to talk about the Taj Mahal as well;
• Visit the Tomb of I’timād-ud-Daulah (also known as Baby Taj, as many believe this building was used as a draft for the actual Taj Mahal);
• Admire the Taj Mahal at sunrise, when there are fewer other people present. Don’t go with a guide, as your guide at the Fort will have already told you the most important things;

How long to stay in Agra: No longer than two days. Preferably, you’ll visit Agra Fort and the Baby Taj in the afternoon, then spend the night in Agra and visit the Taj early the following morning.

How to get from Agra to Delhi: Take a regular train from Agra Cantt to one of the many train stations in Delhi. This is a short trip that should only take about two hours. Book tickets on the Indian Railway’s official website.

Stop 6: Delhi

I’m not going to lie to you: you’re only spending one night here to avoid having to take the dreadful journey from Agra to Rishikesh.

But don’t worry: you’ll come back to Delhi in a few days and your Rajasthan road trip will end there.

So find a nice place to stay the night and wake up refreshed for an early train to Haridwar. (Ask your hostel to arrange a taxi from Haridwar to Rishikesh, because most trains don’t stop at Rishikesh)

Stop 7: Rishikesh

Again: Rishikesh is not located in Rajasthan, but since you’ve already gone to Agra, you might as well pass by Rishikesh.

Don’t worry, it’ll be our little secret.

Yoga Capital of the World, Gateway to the Himalayas, …

Cool nicknames, so it’s got to be worth exploring. You get it.

What to do in Rishikesh:

• Walk across the Ram Jhula and Laxman Jhula suspension bridges overlooking the river Ganges;
• Witness the Ganga Aarti near the Shiva statue located at Shiva Mandir;
• Visit Swarg Ashram, where the Beatles spent three months studying meditation and writing songs for their ninth studio album;
• Go on a sunrise hike to Kunjapuri Temple;
• Swim under a waterfall on your way down from the sunrise trek;
• Get an Ayurvedic massage;
• Take a yoga class at Ramana’s Garden (ask for Veer). You’re in the yoga capital of the world, for Pete’s sake.

How long to stay in Rishikesh: Assuming you want to unwind and relax after two weeks of non-stop exploring, three to four days in Rishikesh is ideal to do everything listed above at a calm pace.

How to get from Rishikesh to Delhi: Take a regular train from Haridwar Junction to one of Delhi’s train stations. Book tickets on the Indian Railway’s official website.

Stop 8: Delhi (again)

Since it’s quite likely that your flight will depart from Indira Gandhi International Airport, it makes sense for the last stop on your Rajasthan road trip to be Delhi. (Although, again, Delhi is technically not a part of Rajasthan)

What to do in Delhi:

• Visit the Bahá’í Lotus Temple and learn about the religion’s fascinating story and values;
• Have lunch at Gurudwara Bangla Sahib, a Sikh house of worship;
• Go shopping in the many colourful bazaars and street shops;
• Visit Jama Masjid (Don’t fall for scammers! Entry to this mosque is completely free, so don’t pay anyone for a ticket);
• Go to a karaoke bar around Connaught Place;
• Take an early morning bike tour around the old town;
• Go on a Salaam Baalak Trust city walk, guided by former street children.

How long to stay in Delhi: In a city that over 15 million people call home, you could spend a lifetime and still not see it all. However, for the purposes of this road trip, two to three days should suffice.

Now that you have the perfect Rajasthan itinerary at your feet, there’s nothing stopping you from the trip of a lifetime.

Plan your Rajasthan road trip:

• Find cheap flights to India on Cheapflights
• Find cheap accommodation on Airbnb and Booking (Delhi – Jaipur – Udaipur – Jodhpur – Agra – Jaisalmer – Rishikesh)
• Sleep for free with Couchsurfing

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