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Favourite 3 Week India Rajasthan Itinerary: The best of the best! 

Sarah Steiner

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. 

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. 

*Alternative finish to the India Rajasthan itinearay detailed below. 

Try yoga things to do in Pushkar.
Travellers, pilgrims, religious and hippe-alike are welcomed and usual in Pushkar.

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: 

There is so much of India and Rajasthan to choose from! 

The white marble and intricate carvings of each of the Chhatri’s (Royal Tombs) in Jaipur are incredible to see.

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! 

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. 

Welcome (officially) to Delhi and incredible India. 

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! 

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. 

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. 

Settling in after boarding an Express train to 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). 

A stunning day at Amber Fort overlooking one of the upper internal courtyards.
Amer Stepwell not far from the huge Amber Fort. 

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. 

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. 

#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.

Sunset in Bikaner, Rajasthan.

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. 

One of the icons of Bikaner’s history and clepe as the ‘City of Haveli’s’.
Don’t forget to look up as you explore 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.   

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.  

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. 

Overnight on camel safari in the Thar Desert from 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.  

Views over Ake Pol, the main first entrance to the fort. 
Looking down to Suraj Pol and Ganesh Gate from the rooftop balcony of the palace.

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. 

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. 

Blue, more blue and the magnificent Mehrangarh Fort in the city of Jodhpur, Rajasthan. 

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. 

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. 

The City Palace in the background and Lake Pichola all in one.
Domestic, international and every visitor in Udaipur is at the City Palace. 

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. 

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). 

The sacred (albeit discoloured) waters of the Holy Lake, 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. 

The Ghats of the Holy Lake with large steps that give access to the water.
Barefoot and joining the crowds at Gau Ghat. 

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. 

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. 

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. 

The golden hour at Jama Masjid in old 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. 

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. 

Have longer than three weeks in India? 

Read more about the best things to do in other destinations in North India: 

Different breeds of camel waiting to be milked at the dairy on the Camel Research Farm in Bikaner, Rajasthan.

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: 

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

Accommodation we recommend in Delhi and Uttar Pradesh

Our basic quad room at Smyle Inn in Main Bazar, Paharganj where all of the hotels are low-cost and backpacker accommodation.
A late night photo of the huge bed and amazing window balcony of the King Suite / Family Room at Wanderlust Guesthouse in Jaisalmer.

Accommodation we recommend in Rajasthan

The beautiful front of Jaipur Haveli in the heart of Jaipur; the Pink City of Rajasthan.

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