Rajasthan is an amazing part of India to explore. With this India Rajasthan itinerary, highlights include the fabulous forts and palaces of Jaipur, Bikaner and Jodhpur. You will see the beautiful lakes of Udaipur and Pushkar and take an overnight camel safari into the Thar Desert to sleep underneath the stars. Ride the fast trains between the bigger cities and shop in the bustling markets of Delhi to start and end your trip.
At the end of this post, we also give recommendations on what to do if you have more time. This India Rajasthan itinerary gives you a nice overview to the most famous and vibrant state of India. However of course with any India itinerary there is always more to see!
Here we go.
- About this India Rajasthan Itinerary
- Summary
- Best time to visit Rajasthan
- Highlights
- 3 WEEK INDIA RAJASTHAN ITINERARY
Day 1 – 2 – Delhi
Day 3 – 4 – Jaipur
Day 5 – 6 – Bikaner
Day 7 – 10 – Jaisalmer
Day 11 – 12 – Jodhpur
Day 13 – 14 – Udaipur
Day 15 – 17 – Pushkar
Day 18 – 21 – Delhi - Options for your India Rajasthan itinerary
Add the Taj Mahal - Have more than 3 weeks in India?
- Booking accommodation for your Rajasthan itinerary
- Where to stay
- More about India
Why you’ll love this India itinerary
This is one of my favourite itineraries for India. Often North India itineraries skip over the major cities of Rajasthan and see the highlights but don’t allow time in the smaller, lesser visited but incredible cities of the state.
In this India Rajasthan itinerary, you can get off the beaten track, taking public transport to Bikaner and Jaisalmer and staying overnight on a camel safari in the Thar Desert. You will see the famous palaces and forts of Rajasthan as well as the historic old cities and unique, colourful heritage of this vibrant desert state.
Summary – 3 Week India Rajasthan Itinerary
See your complete adventure below.
- Day 1 – Delhi – Arrival
- Day 2 – Delhi – Tour of Old Delhi
- Day 3 – Jaipur – Train
- Day 4 – Jaipur – Tour of Jaipur
- Day 5 – Bikaner – Bus
- Day 6 – Bikaner
- Day 7 – Jaisalmer – Bus
- Day 8 – 9 – Jaisalmer – Camel Safari
- Day 10 – Jaisalmer
- Day 11 – Jodhpur – Bus
- Day 12 – Jodhpur
- Day 13 – Udaipur – Car
- Day 14 – Udaipur
- Day 15 – Pushkar – Train to Ajmer
- Day 16 – 17 – Pushkar
- Day 18 – Delhi – Train
- Day 19 – 21* – Delhi
*Alternative finish to the India Rajasthan itinearay detailed below.
What is the best time of year in India for a Rajasthan itinerary?
Keep in mind whilst planning your Rajasthan itinerary that the best time to visit north India is in the winter months from October to March. The winter months are preferable as the days are sunny and not too humid.
Highlights – 3 Week India Rajasthan Itinerary
Highlights of this 3 week India Rajasthan itinerary include:
- Taking a rickshaw in Jaipur
- Humayun’s Tomb in Delhi
- Sleep underneath the stars on overnight camel safari
- Explore the blue city of Jodhpur
- Bus ride to Jaisalmer
- Famous Rat Temple of Bikaner
- Bikaner Camel Research Farm
- Jaipur’s iconic pink Wind Palace
- Stay in a traditional Haveli
- Udaipur’s famous City Palace
- Boat ride of Lake Pichola in Udaipur
- Amber Fort in Jaipur
- Try Indian chai the traditional way
- Old Delhi, New Delhi and South Delhi
- Shopping for souvenirs in the markets of Delhi
There is so much of India and Rajasthan to choose from!
Details – 3 WEEK INDIA RAJASTHAN ITINERARY
Read on for the full details and complete adventure of this India Rajasthan itinerary.
Day 1 – Delhi – Arrival in India
Today is touchdown day in India! Welcome to the bustling and metropolis capital city of Delhi.
Depending on the time of day you arrive to Delhi, get a taxi to your accommodation and settle in for an in-house dinner at the hotel restaurant. Or if you have more time and energy, get a taxi out to Connaught Place for a first taste of Indian cuisine – in India!
- Read our travel guide to India including all about arriving at New Delhi International Airport, getting a SIM card for India and managing money in India.
- Travel by taxi from the airport on arrival to your accommodation in Delhi.
- Stay overnight in hotel, Delhi.
Day 2 – Delhi – Tour of Old Delhi
Today is officially the first day of exploring on your India itinerary. Though today starts with the highlights and famous sites of old Delhi in the capital of India and the state of Uttar Pradesh.
Get a rickshaw to old Delhi and check out the incredible Jama Masjid (mosque) and the Red Fort. Take a cycle-rickshaw along Chandni Chowk – one of Delhi’s oldest and busiest bazars. Have lunch in Chandni Chowk and then continue to New Delhi to see some more of the most famed sites including Humayun’s Tomb, India Gate, the Agresen ki Baoli Stepwell and the beautiful Lodi Gardens.
Have dinner tonight in Connaught Place.
- Read about where to go shopping for Indian outfits, the ultimate 1-Day Delhi itinerary plus the top things to see and do in Delhi.
- Travel by autorickshaw.
Day tour of Delhi and Sarojini Market by auto-rickshaw with driver Sunny +91 95997 59259. See more about getting around in our detailed Delhi itinerary.
- Stay overnight in hotel, Delhi.
Day 3 – Train Delhi to Jaipur – India Rajasthan Itinerary
Today take the train from Delhi to Jaipur to officially start the Rajasthan part of this India Rajasthan itinerary!
- SUGGESTED TRAIN
AJMER SHATABDI #12015
Runs: Daily
Departs: 06:10H (NDLS)
Arrives: 10:40H (JP)
There is a faster train in the evening however the timing of this train arriving to Jaipur before midday means you have the afternoon in Jaipur.
- Read about how to get the train Delhi to Jaipur smoothly and comfortably.
Check in to your accommodation and head out for the afternoon to see the famous Hawa Mahal Wind Palace and get a Lassi at 312 M.I. Road.
- Read about traveling by train in India.
- Travel by train.
#12015 AJMER SHATABDI departs Delhi (NDLS) at 06:10am daily arriving to Jaipur (JP) at 10:40am with a travel time of 4.5 hours.
Book the train Jaipur online.
- Stay overnight in traditional Haveli, Jaipur.
Day 4 – Jaipur – India Rajasthan Itinerary
Today is all about exploring the fabulously Pink City of Jaipur. Book a day tour by auto-rickshaw for the best way to get around and see Jal Mahal (Water Palace), Jantar Mantar (observatory), Albert Hall Museum, City Palace, Amber Fort and Stepwell, the historic Hindu temples and Akbar’s Masjid (Mosque).
- Read about all the best things to do in Jaipur and how to get around.
- Travel by auto rickshaw.
Get picked up for a day tour by auto-rickshaw with driver Raja Rabbani. Contact Raja on WhatsApp +91 9928130309.
- Stay overnight in traditional Haveli, Jaipur.
Day 5 – Bus to Bikaner
Today is another travel day on your Rajasthan itinerary. This leg of the journey is doable by train, bus or taxi.
For the train, there is a four-times-weekly Mail/Express train from Jaipur that departs at 12:35pm and arrives to Bikaner at 19:50pm.
- SUGGESTED TRAIN
PRYJ BKN SF EXP #12403
Runs: Sun, Tues, Wed, Fri
Departs: 12:35pm (JP)
Arrives: 19:50pm (BKN)
Otherwise, we recommend the easiest way to get to Bikaner is by bus. The journey from Jaipur to Bikaner takes around 5 – 6 hours and buses depart frequently from Jaipur throughout the day.
- Read about travel by bus in India and the things to do in Bikaner.
- Travel by train, bus or taxi.
#12403 PRYJ BKN SF EXP departs Jaipur (JP) at 12:35pm arriving to Bikaner (BKN) at 19:50pm with a travel time of 7 hours and 15 mins.
Book the train Bikaner online.
Day 6 – Bikaner – Tour of Old Bikaner and the Rat Temple
We reckon Bikaner is one of the most underrated cities and is often not included in the standard Rajasthan itinerary. But it is a brilliantly smaller city with plenty to see and do. The old city is rich in history with Haveli’s, palaces and palatial residences-turned-restaurants and the beautiful Junagarh Fort.
And if you have the curiosity (or courage) to visit the infamous Rat Temple of Bikaner – Shree Karni Mata – it really is one of a kind.
- Read about the oddly unique things to do in Bikaner and about how to visit Shree Karni Mata.
- Travel by auto-rickshaw and bus.
Take a rickshaw to the surrounding sites of Bikaner and a local bus directly to the Rat Temple.
- Stay overnight in a Haveli in Bikaner.
Day 7 – Bus to Jaisalmer
Get a bus mid-morning from Bikaner to Jaisalmer. This means you have time for one last morning stroll of the market.
The journey by road to Jaisalmer takes around 6 hours and means you arrive in brilliant time for a Lassi on the roof of your Jaisalmer guesthouse with an epic view of the famous Fort.
- Read about travel by bus between Bikaner and Jaisalmer.
- Travel by bus.
- Stay overnight at Wanderlust Guesthouse in Jaisalmer.
Day 8 – 9 – Overnight Camel Safari in the Thar Desert
This part of your India Rajasthan itinerary is a bit more off the beaten track with a legendary overnight camel safari in the Indian Thar Desert sleeping underneath the stars.
The camel safari starts mid-afternoon, so this morning take a walk into the Villagers Market to get a scarf for the desert. Enjoy lunch on your guesthouse rooftop before departing by Jeep to the desert about 1 – 1.5 hours away.
Trek on camels from the village into the sunset and enjoy dinner cooked over the campfire in the sand dunes. Sleep (literally) underneath the stars.
- Read about the overnight camel safari in Jaisalmer.
- Travel by Jeep to the desert.
And by camel! - Stay overnight in the Thar Desert sleeping underneath the stars.
After breakfast in the desert return by camel to the nearby village and back again by Jeep to Jaisalmer.
Enjoy a relaxed lunch back at your guesthouse (and a shower after the desert). Today is a good chance for a slow afternoon to take some rest.
- Read all about the things to do in Jaisalmer and local food to try.
- Travel by Jeep back from the desert.
- Stay overnight at Wanderlust Guesthouse in Jaisalmer.
Day 10 – Jaisalmer Fort
Enjoy breakfast at the guesthouse before a walking tour of the Jaisalmer Fort.
This will be the perfect opportunity to learn about this historic golden city of India as well as make the most of some beautiful souvenir shopping in the Fort market place.
- Read about what to see in Jaisalmer Fort.
- Travel on foot.
Walking tour of Jaisalmer Fort.
- Stay overnight at Wanderlust Guesthouse, Jaisalmer.
Day 11 – Bus to Jodhpur
The easiest and most comfortable (and convenient) way to get from Jaisalmer to Jodhpur is by bus. The busses depart hourly from Jaisalmer and can be booked the day before through your accommodation.
- Read about travel by bus from Jaisalmer to Jodhpur.
- Travel by bus.
- Stay overnight in Jodhpur.
Day 12 – Jodhpur – India Rajasthan Itinerary
Explore the famous Blue City of Rajasthan today with a walking tour by Blue City Walks.
Explore the small blue laneways and see the historic Mehrangarh Fort, the famous stepwell and colourful Hindu temples and shrines dotted around the streets and courtyards of Jodhpur.
- Travel on foot and by autorickshaw.
Take a rickshaw to start a walking tour from Mehrangarh Fort.
- Stay overnight at Raj Mandir Boutique Homestay, Jodhpur.
Day 13 – Car from Jodhpur to Udaipur stopping at Kumbhalgarh Fort
The cities of Jodhpur and Udaipur are not connected with direct trains, and so the best way to get from Jodhpur to Udaipur is by road (around 5 hours). Stop on the way to visit Kumbhalgarh Fort, a UNESCO World Heritage Site and one of the largest forts in India.
- Travel by car.
Book a driver and car through your accommodation in Jodhpur.
- Stay overnight in a hotel, Udaipur.
Day 14 – Udaipur – India Rajasthan Itinerary
Visit the City Palace and Museum and enjoy a boat trip out to Jagmandir Island on Lake Pichola.
Finish your day in Udaipur with dinner at the waterfront Ambrai Restaurant.
- Read about the best things to do in Udaipur.
- Travel on foot, by boat and autorickshaw.
- Stay overnight in a hotel, Udaipur.
Day 15 – Train Udaipur to Ajmer and car to Pushkar
Today you are heading to Pushkar, a quiet retreat in the hills beyond Ajmer. Pushkar does not have a train connection however it is just a 30-minute drive from the city of Ajmer to arrive at Pushkar.
Travel first from Udaipur to Ajmer on the fast train.
- SUGGESTED TRAIN
VANDE BHARAT EXP #20979
Runs: Daily except Tues
Departs: 07:50am (UDZ)
Arrives: 12:05pm (AII)
Arriving at the train station you can take a break and head for lunch at Mango Masala restaurant. From there or from the train station you can book a taxi to Pushkar (around 30 minutes).
- Read about Ajmer (and why we don’t recommend staying there) and Pushkar.
- Travel by superfast train.
VANDE BHARAT EXP #20979 departs daily except Tuesday from Udaipur (UDZ) at 07:50am and arrives to Ajmer (AII) at 12:05pm taking 4 hours and 15 mins.
Book the train Ajmer online.
- Stay overnight in Pushkar.
Day 16 – 17 – Pushkar – India Rajasthan Itinerary
Pushkar is often an extension to the typical Golden Triangle itinerary for India as a small city destination that offers a relaxing and quiet option in Rajasthan.
It is a popular place for vegan and hippie travellers with yoga retreats and green cafes in higher proportion than anywhere nearby. And its small size and seemingly lack of tourist-dedicated things to do in Pushkar make it even more attractive.
Take a couple of days relaxing in Pushkar and exploring this historic smaller city. There is plenty to do and the city is steeped in history as one of the oldest cities in India.
- Read about the things to do in Pushkar.
- Stay in a hotel in Pushkar.
Day 18 – Return by train from Pushkar (Ajmer) to Delhi
Travel today back from Pushkar to Ajmer by taxi. Then it is time to finish the Rajasthan part of this India Rajasthan itinerary and head back to Delhi.
- SUGGESTED TRAIN
AII NDLS SHATBI #12016
Runs: Daily
Departs: 15:55pm (AII)
Arrives: 22:30pm (NDLS)
Plan to be picked up by your accommodation in Delhi and transfer to your hotel. Or if you have booked our recommend Delhi driver, Sunny he will be there waiting on the platform.
- Read about things to do in Delhi.
- Travel by taxi, train and auto-rickshaw.
Give Sunny a message to arrange a driver and auto-rickshaw pick-up and transport for the next days in Delhi +91 95997 59259.
- Book your train to Delhi online with 12GoAsia.com.
- Stay overnight in a hotel in Delhi.
Days 19 – 20 – Delhi – India Rajasthan Itinerary
Enjoy the next two days touring some of the remainder key sights of old and New Delhi and making the most of the last days in India’s vibrant capital city.
Visit the Ghandi Museum and volunteer for an hour or so at the Sikh Gurudwara in Connaught Place.
Get a rickshaw further from the old city to see the Lotus Temple and Qutab Minar in South Delhi or spend the morning at the fabulous Akshardham Hindu temple and museum (plus 20 minute boat ride!).
Take the chance to explore Main Bazaar or visit Dilli Haat Market for the best last minute shopping and souvenirs from India.
Enjoy one last dinner in Delhi in Connaught Place.
- Read about the top things to do in Delhi.
- Travel by auto rickshaw.
Get around Delhi with driver Sunny. Contact him on WhatsApp +91 95997 59259 before you arrive in India with dates for tours and transport in Delhi.
- Stay in a hotel in Connaught Place, Hauz Khas or Main Bazar, Delhi.
Day 21 – Departure from Delhi
We hope you have enjoyed a great 3 Week India Rajasthan itinerary!
Options for your India Rajasthan itinerary
With the second to last stop on this India Rajasthan itinerary being in Pushkar and Ajmer it opens up the opportunity before heading back to Delhi to make one last stop in Agra. Agra is home to the world famous Taj Mahal!
Albeit Agra is not technically in Rajasthan and so we haven’t included it in this India Rajasthan Itinerary. However, you can’t really come to North India and be so close to Agra and not see the Taj!
The easiest way to get from Ajmer to Agra is by train.
- AII SDAH SF EXP #12988 departs daily from Ajmer (AII) at 12:50pm arriving to Agra (TDL) at 20:25pm taking 7 hours and 25 mins.
- AII AF IINTERCITY #12196 departs daily from Ajmer (AII) at 14:55pm arriving to Agra (AF) at 19:40pm taking 6 hours 45 mins.
Both of these trains are Mail/Express trains (not like the superfast Vande Bharat) and unfortunately arrive to Agra in the evening. However if you plan ahead with your Agra accommodation and arrange a pick up at the train station it isn’t far. Though it likely means you will want to book two nights in Agra if arriving at this time of day.
Note the Taj Mahal is not open on Fridays.
- Read about visiting the Taj Mahal and other things to do in Agra.
- Travel by train.
- Stay overnight in Agra.
Have longer than three weeks in India?
Read more about the best things to do in other destinations in North India:
Booking accommodation for this 3 Week India Rajasthan Itinerary
To help with booking accommodation based on the above India Rajasthan Itinerary, this is where you will spend your three weeks in India:
- Day 1 -2 – Delhi 2 nights
- Day 3 – 4 – Jaipur 2 nights
- Day 5 – 6 – Bikaner 2 nights
- Day 7 – 10 – Jaisalmer 4 nights
- Day 11 – 12 – Jodhpur 2 nights
- Day 13 – 14 – Udaipur 2 nights
- Day 15 – 17 – Pushkar 3 nights
- Day 18 – 21 – Delhi 2 or 3 nights
Or add an extra night or two in Agra on Day 18 – 19 and see the Taj Mahal before spending the last 2 nights in Delhi.
Happy travels and enjoy a fantastic three weeks in India Rajasthan!
Other North India and Rajasthan itineraries
- Ultimate 1 Week Golden Triangle Itinerary: Two Options.
- 5 North India Itinerary Options.
- 10 Day Rajasthan India Itinerary.
- 10 Day Punjab India to Pakistan Itinerary.
- Our favourite 3 Week India Rajasthan Itinerary.
- 5 Days in Kerala, South India.
- Ultimate 3 Week North India Itinerary.
- 2-Day Detailed Varanasi Itinerary.
- The Perfect One Day in Delhi Itinerary.
Accommodation we recommend in Delhi and Uttar Pradesh
- Delhi (Airport) / Mid-Range: Taurus Sarovar Portico
Beautiful hotel only a few km’s from Delhi International Airport. A great first stop arriving in India with buffet breakfast included and a restaurant onsite.
- South Delhi / Mid-Range: Haveli Hauz Khas
A homestay style Haveli in the popular Hauz Khas area of South Delhi.
- New Delhi / Mid-Range-Luxury: Shangri La’s Eros Hotel
The hotel has a few in house restaurants, including the signature Shang Palace and Sorrento. There’s also a gym, an outdoor pool and a spa.
- New Delhi / Budget: Smyle Inn
Extremely basic hotel in small back alley but with very friendly, helpful staff and simple breakfast included. Just off Main Bazaar.
- Agra / Budget-Mid: Aman Homestay
Friendly family-run homestay with rooftop views of The Taj Mahal. Great rickshaw driver service and home cooked meals. We stay here with our Group Trips to India.
- Agra / Budget-Mid: The Coral House Homestay by the Taj
Located only 700 metres from Taj Mahal with a relaxing homestay feel and comfortable common areas. A great dinner and breakfast option. We really enjoyed staying here.
- Agra / Mid-Luxury: Hotel Taj Resorts
Beautiful resort style accommodation only 600 metres from the Taj. Enjoy the incredible restaurant on-site and refreshing swimming pool.
Accommodation we recommend in Rajasthan
- Jaipur / Mid-Range: Jaipur Haveli
We recommend Jaipur Haveli and stay here on our India Group Trips. It is an incredible old haveli home in heart of Jaipur with beautiful rooms, great attention to detail and very friendly staff and owners.
- Jaisalmer / Budget: The Wanderlust Guesthouse
AMAZING guest-house! We love staying here and can highly recommend. Great rooms; rooftop restaurant overlooking the fort; awesome camel safaris!
- Jodhpur / Budget: Raj Mandir Boutique Homestay
Good location in Blue City, spacious room with small balcony inside Haveli style home. Tiny little doors, lots of unique decor and artefacts.
- Udaipur / Luxury: Taj Lake Palace (Jag Niwas)
This is the most iconic feature of Udaipur’s landscape! The hotel is a luxury accommodation and former palace located right in the middle of Lake Pichola.
- Udaipur / Boutique: Udai Kothi
A small, boutique property in the heart of town next to Ambrai Ghat and restaurant with a rooftop overlooking the City Palace and Lake Pichola.
- Udaipur / Budget-Mid-Range: Hotel Lake Star
Family owned and run small hotel with spacious, simple rooms including an epic lake-view family room. This is where we stayed in Udaipur.
- Pushkar / Mid-Range: Inn Seventh Heaven
We stayed at Inn Seventh Heaven (lol; the name) and really enjoyed our stay. The hotel is a renovated 100 year old Haveli close to the lake.
