Rajasthan is a land of color, culture, and grandeur, making it one of the most sought-after destinations in India. For first-time travelers, the state can feel overwhelming due to its sheer diversity—there are forts, palaces, lakes, deserts, temples, wildlife sanctuaries, and bustling markets waiting to be explored. If you are planning your very first trip to Rajasthan, choosing the right cities to include in your itinerary is crucial to make your experience truly unforgettable.
In this blog, we’ll guide you through the best cities to visit in Rajasthan for first timers, their highlights, and travel tips to help you design a journey that blends history, adventure, and cultural richness.
Why Explore Rajasthan Through Guided Rajasthan Tours?
When you embark on your first trip to Rajasthan, it can be tempting to just pick a few random cities and go with the flow. However, Rajasthan is vast, and without proper planning, you may miss out on some of its most iconic experiences. This is where Rajasthan tours come into play. A guided or planned itinerary ensures you experience the best of Rajasthan in a structured way—covering famous cities, hidden gems, and diverse experiences ranging from desert safaris to palace stays.
Whether you are visiting Jaipur for its palaces, Udaipur for its lakes, or Jaisalmer for its desert charm, Rajasthan tours will help you manage time, travel, and sightseeing effectively while making the trip memorable.
1. Jaipur – The Pink City of India
For most first-time visitors, Jaipur tops the list. Known as the Pink City, Jaipur blends historical grandeur with modern vibrancy. The city is dotted with majestic forts, palaces, and colorful bazaars.
Highlights in Jaipur:
- Amber Fort – A magnificent hilltop fort with beautiful architecture and elephant rides.
- City Palace – A royal residence that still houses the royal family.
- Hawa Mahal – The iconic “Palace of Winds” with 953 windows.
- Jantar Mantar – A UNESCO World Heritage site and astronomical observatory.
- Local Bazaars – Great for shopping gems, jewelry, handicrafts, and block-printed fabrics.
Jaipur also acts as the gateway to Rajasthan, being part of the famous Golden Triangle (Delhi-Agra-Jaipur), making it easy for first-timers to include in their trip.
2. Udaipur – The Venice of the East
No first-time trip to Rajasthan is complete without visiting Udaipur, often called the “Venice of the East.” With its shimmering lakes and regal palaces, Udaipur feels like a romantic dream.
Highlights in Udaipur:
- City Palace – A grand palace complex overlooking Lake Pichola.
- Lake Pichola Boat Ride – Sunset rides here are magical.
- Jag Mandir and Jag Niwas (Lake Palace) – Island palaces on the lake.
- Saheliyon-ki-Bari – A charming royal garden.
- Traditional Markets – Famous for miniature paintings and handicrafts.
The city’s calm, scenic beauty makes it a must for first-timers who want a more relaxed yet royal experience. It is also often included in a Best Rajasthan tour because of its iconic lakes and heritage hotels.
3. Jodhpur – The Blue City
Jodhpur is famous for its blue-painted houses and the massive Mehrangarh Fort that dominates the skyline. It’s an exciting city for first-time travelers who want to see the raw yet regal side of Rajasthan.
Highlights in Jodhpur:
- Mehrangarh Fort – One of the most impressive forts in India.
- Jaswant Thada – A marble cenotaph with intricate carvings.
- Umaid Bhawan Palace – Partly a luxury hotel, partly a museum, partly a royal residence.
- Clock Tower and Sardar Market – Perfect for buying spices, handicrafts, and textiles.
Jodhpur also acts as a central city that connects with Jaisalmer and Udaipur, making it a convenient stop for first-time visitors exploring multiple destinations.
4. Jaisalmer – The Golden City
For those who dream of Rajasthan’s desert life, Jaisalmer is unmissable. Known as the Golden City, Jaisalmer shines with golden sandstone architecture and the vast Thar Desert surrounding it.
Highlights in Jaisalmer:
- Jaisalmer Fort – A living fort with shops, hotels, and temples inside.
- Patwon ki Haveli – An intricate haveli showcasing beautiful carvings.
- Desert Safari – Camel rides and jeep safaris in the Sam Sand Dunes.
- Cultural Nights – Folk music and dance under the desert sky.
For first-timers, Jaisalmer offers a unique experience—one that captures Rajasthan’s rustic desert charm. Many Rajasthan tour packages include Jaisalmer for travelers who want to experience both heritage and adventure.
5. Pushkar – The Spiritual City
If you want to add spirituality to your first Rajasthan trip, Pushkar is an excellent choice. This small town is one of the oldest in India and famous for the Pushkar Camel Fair and the sacred Brahma Temple.
Highlights in Pushkar:
- Pushkar Lake – A holy lake surrounded by ghats.
- Brahma Temple – The only temple dedicated to Lord Brahma in India.
- Camel Fair – A vibrant festival with cultural performances, camel races, and markets.
- Local Cafes and Rooftops – Offering beautiful lake views and laid-back vibes.
Pushkar also provides a calmer, more spiritual side of Rajasthan for those who want a balance of culture and relaxation.
6. Mount Abu – The Hill Station Escape
For first-timers visiting Rajasthan during summer, Mount Abu offers a refreshing escape from the desert heat. It is Rajasthan’s only hill station.
Highlights in Mount Abu:
- Dilwara Temples – Famous for marble carvings and Jain architecture.
- Nakki Lake – A serene lake perfect for boating.
- Sunset Point – Offers breathtaking views of the hills.
- Mount Abu Wildlife Sanctuary – Great for nature and wildlife enthusiasts.
Including Mount Abu in your Rajasthan itinerary ensures you get a mix of desert and mountain experiences.
7. Ajmer – The City of Harmony
Ajmer is another city worth visiting for first-timers, especially those interested in spirituality and cultural diversity. It is home to the famous Ajmer Sharif Dargah, one of the most significant Sufi shrines in India.
Highlights in Ajmer:
- Ajmer Sharif Dargah – A holy place attracting people of all faiths.
- Ana Sagar Lake – A beautiful lake with a scenic promenade.
- Adhai Din Ka Jhonpra – A historical mosque with Indo-Islamic architecture.
Ajmer is often paired with Pushkar in Best Rajasthan tours, giving travelers both Sufi heritage and Hindu spirituality in one trip.
Tips for First-Time Visitors to Rajasthan
- Plan your route wisely – Don’t try to cover too many cities in one trip; choose 3–4 based on your interest.
- Pick the right season – October to March is the best time to visit, as summers can be extremely hot.
- Book accommodations in advance – Rajasthan is popular among tourists, and heritage hotels get booked early.
- Use local transport – Auto-rickshaws, cabs, and trains are budget-friendly and easily available.
- Respect the culture – Rajasthan is deeply traditional, so dress modestly, especially in rural and religious areas.
- Indulge in local food – Don’t miss dal baati churma, gatte ki sabzi, and Rajasthani sweets like ghewar.
Final Thoughts
For first-time travelers, Rajasthan offers an unmatched mix of culture, history, and natural beauty. Cities like Jaipur, Udaipur, Jodhpur, and Jaisalmer are essential to understand the essence of Rajasthan, while places like Pushkar, Ajmer, and Mount Abu add diversity to your journey. Whether you explore through a Best Rajasthan tour, customize your own route, or choose from various Rajasthan tour packages, your experience will be nothing short of magical.
Rajasthan isn’t just a destination; it’s a celebration of India’s heritage and traditions. And for first-timers, it promises memories that last a lifetime.