On foot · CASTLE AND PALACE WALKING TOURS

The World’s 15 Best Castle and Palace Walking Tours

54 walks  ·  from $3 a head

Walks that end inside the walls rather than under them. The 15 below bundle the timed entry ticket with the guide, priced and clear about how many stairs are between you and the view.

Edinburgh Castle: Guided Walking Tour with Entry Ticket - Meeting near Advocates Close and walking uphill
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Edinburgh Castle: Guided Walking Tour with Entry Ticket

1.Edinburgh Castle: Guided Walking Tour with Entry Ticket

★★★★★★★★★★4.7 · 11,699 reviews · 1.5 hours · from $49Our pick

Meet near St. Giles’ Cathedral, walk uphill to Edinburgh Castle, and spend 90 minutes hearing stories from guides such as Joe, Jen, Valeria, and Nick. The tour stays outdoors, then leaves you free to visit the Royal Palace, Great Hall, museums, prisons, and chapel on your own.

“Very good Very intresting too and learnt loads the tour guide was brilliant”

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Venice: Doge's Palace and St Mark's Basilica Walking Tour - Meeting in St. Mark’s Square
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Venice: Doge’s Palace and St Mark’s Basilica Walking Tour

2.Doge’s Palace and St Mark’s Basilica Walking Tour

★★★★★★★★★★4.4 · 6,291 reviews · 2 - 2.5 hours · from $101

Explore Venice’s political heart with a guide through Doge’s Palace and St. Mark’s Basilica. See the Grand Council Hall, Bridge of Sighs, Casanova’s prison, golden mosaics, and, on selected options, the basilica museum and terrace.

“The tour involved approximately 1 hour 15 minutes in St Marks Basilica and 1 hour 15 minutes in Doge’s Palace. Our guide was very knowledgable and interesting to listen to. She had a good breadth of information to convey. Both buildings are beautiful to look at and the interiors even more so. We thoroughly enjoyed the tour However we think it might have been beneficial to have split it up into 2 separate tours? That way we could have lingered in each building at our leisure without needing to move onto the next All in all a very enjoyable afternoon Would definitely recommend you visit these when visiting Venice”

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Prague: 3-Hour Walking Tour of Old Town & Prague Castle - Starting near Old Town Square and the Astronomical Clock
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Prague: 3-Hour Walking Tour of Old Town & Prague Castle

3.3-Hour Walking Tour of Old Town & Prague Castle

★★★★★★★★★★4.7 · 5,696 reviews · 3 hours · from $30

Start near Old Town Square with guides such as Misa, Peter, David, or Martina, then walk past the Astronomical Clock, cross Charles Bridge, and ride the tram to Prague Castle. Expect three hours of exterior sightseeing, local stories, photo stops, and wide city views. Admission tickets are not included.

“Our was very knowledgeable in the history of the town and it was very enjoyable and entertaining.”

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Edinburgh Castle: Guided Walking Tour with Entry Ticket - Meeting near Advocates Close and walking uphill
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Edinburgh Castle: Guided Walking Tour with Entry Ticket

4.Edinburgh Castle: Guided Walking Tour with Entry Ticket

★★★★★★★★★★5.0 · 5,540 reviews · 1 hour 30 minutes (approx.) · from $51Top rated

Meet near St Giles’ Cathedral and walk to Edinburgh Castle with a guide such as Joe, Sonia, Raj, or Valeria. Expect 90 minutes of outdoor storytelling inside the castle walls, followed by free time to enter the Royal Palace, Great Hall, museums, prisons, and other buildings.

“Perfect way to start my first visit to Edinburgh! The tour offered a perfect mix of history, culture, wit and lunch recommendations at the end. Must do!”

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Edinburgh Castle Guided Walking Tour in English - Walking the Royal Mile toward the fortress
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Edinburgh Castle Guided Walking Tour in English

5.Edinburgh Castle Guided Walking Tour in English

★★★★★★★★★★5.0 · 5,214 reviews · 1 hour 30 minutes (approx.) · from $52

Meet near Adam Smith’s statue on the Royal Mile for a 90-minute English walking tour to Edinburgh Castle. Guides such as Koffe, Steph, Greg, Graeme, Euan, and Ben bring Scottish stories to life, then leave you free to explore the castle buildings on your own.

“Energetic guide who loved history. Made for a great experience! I traveled alone but this tour company was extremely friendly”

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Split: Old Town and Diocletian Palace Walking Tour - Starting at the Golden Gate
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Split: Old Town and Diocletian Palace Walking Tour

6.Old Town and Diocletian Palace Walking Tour

★★★★★★★★★★4.9 · 4,727 reviews · 90 minutes - 6 hours · from $17

Walk through 1,700 years of Split with guides such as Mia, Slavko, Antonia, and Ivana. See Diocletian’s Palace, Peristyle, Saint Domnius Cathedral, Gregory of Nin, and the Riva. Choose a 90-minute walk or longer options with food, wine, or a Trogir add-on.

“Really fun and the guide was lovely and very knowledgeable!”

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Budapest: Buda Castle Walk with Saint Stephen's Hall - Meeting at Savoy Terrace
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Budapest: Buda Castle Walk with Saint Stephen’s Hall

7.Buda Castle Walk with Saint Stephen’s Hall

★★★★★★★★★★4.5 · 3,012 reviews · 1.5 hours · from $29

Spend 90 minutes exploring Buda Castle’s courtyards, wartime ruins, royal stories, and sweeping Danube views. Your English-speaking guide leads you into restored St. Stephen’s Hall, with headsets provided. Guides such as Rita, Rosie, Kopp, and Eszter are known for lively, clear storytelling.

“Our guide Eszter really made this tour so amazing. Walking around the outside of the Buda Castle complex, she really brought the history of the place and Budapest to life. Very engaging, knowledgeable and passionate. Perfect way to start off our visit, and helped us put into context other sights and places we visited.”

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Walking Tour of Split and Diocletian's Palace - The Vestibule and the Sound of Dalmatian Song
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Walking Tour of Split and Diocletian’s Palace

8.Walking Tour of Split and Diocletian’s Palace

★★★★★★★★★★5.0 · 2,588 reviews · 1 hour 30 minutes (approx.) · from $48

Walk through Split’s UNESCO-listed core with an English-speaking guide, visiting Diocletian’s Palace, the Peristyle, Vestibule, Golden Gate, Riva, Fruit’s Square, and the old synagogue. Guides such as Antonella, Anton, Mario, and Marino bring different styles, from lively storytelling to detailed history lessons.

“This was so good! Our guide, Antonio was superb. We were a small family group and his knowledge and enthusiasm was just fabulous. Really loved this tour.”

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Bangkok: Grand Palace and Wat Phra Kaew Guided Walking Tour - Wat Phra Kaew and the Emerald Buddha
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Bangkok: Grand Palace and Wat Phra Kaew Guided Walking Tour

9.Grand Palace and Wat Phra Kaew Guided Walking Tour

★★★★★★★★★★4.4 · 2,417 reviews · 150 minutes - 3 hours · from $17

Walk through Bangkok’s Grand Palace and Wat Phra Kaew with a small group or private guide. Expect about two hours of temple art, royal history, and the Emerald Buddha, with guides such as Sun, Jacky, Fern, and Tank praised for clear explanations and helpful pacing.

“Pop was a good tour guide and very knowledgeable of Thai history. Thanks Pop”

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Tokyo: Imperial Palace and Shogun Historical Walking Tour - Through the gates and into the former castle grounds
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Tokyo: Imperial Palace and Shogun Historical Walking Tour

10.Imperial Palace and Shogun Historical Walking Tour

★★★★★★★★★★5.0 · 2,251 reviews · from $22

Spend about two hours walking through the Imperial Palace East Gardens, Edo Castle ruins, stone gates, walls, and Ninomaru Garden. Guides such as Jim, Miguel, Tony, and Aya explain Japan’s shoguns, emperors, culture, and legends. The group is capped at 15, and admission is included.

“Our guide Dylan was great and he told US many interesting facts about the history of the Imperial Palace.”

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Madrid: Royal Palace Skip-the-Line Guided Tour - The walk begins on Calle Mayor
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Madrid: Royal Palace Skip-the-Line Guided Tour

11.Royal Palace Skip-the-Line Guided Tour

★★★★★★★★★★4.5 · 2,140 reviews · 2 hours · from $41

Walk from Calle Mayor through Plaza Mayor, San Miguel market, Plaza de la Villa, and Plaza de Oriente, then tour Madrid’s grand Royal Palace. English and Spanish guides include Rodrigo, Federico, Beatriz, Luis, and Jesús. Expect about 90 minutes inside the palace, with headsets provided.

“Beatrice was an amazing and knowledgeable guide who delivered the tour enthusiastically and in an engaging way.”

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Budapest: Buda Castle District Walking Tour - Starting at Holy Trinity Square and Matthias Church
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Budapest: Buda Castle District Walking Tour

12.Buda Castle District Walking Tour

★★★★★★★★★★4.6 · 2,108 reviews · 2 hours · from $14Best value

Follow a small group guide through Buda Castle District, starting at Holy Trinity Square and ending there. You’ll see Matthias Church, Fishermen’s Bastion, the President’s Palace, and Royal Palace courtyards, with stories, bridge views, and guides such as Monika, Zoli, Dominic, and Alexandra.

“the guide. Unfortunately I for got his name but he was great!”

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Marrakech: Saadian Tombs & Bahia Palace, Medina Guided Tour - Koutoubia Mosque and the first city lesson
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Marrakech: Saadian Tombs & Bahia Palace, Medina Guided Tour

13.Marrakech: Saadian Tombs & Bahia Palace, Medina Guided Tour

★★★★★★★★★★4.6 · 1,989 reviews · 4 hours · from $18

Walk Marrakech’s old city with a licensed guide, visiting Koutoubia Mosque, Bab Agnaou, the Kasba, Saadian Tombs, Mellah, Bahia Palace, and the souks. Guides such as Abdul, Ahmed, and Rachid are praised for clear history, humor, and helpful local tips. Choose shared or private, with hotel pickup only on selected options.

“So educational! Perfect timing, incredibly friendly, could not have been better 🙌”

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Prague 3-hour Afternoon Walking Tour including Prague Castle - Prague Castle: more than one palace
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Prague 3-hour Afternoon Walking Tour including Prague Castle

14.Prague 3-hour Afternoon Walking Tour including Prague Castle

★★★★★★★★★★5.0 · 1,899 reviews · 3 hours 30 minutes (approx.) · from $53

Start near Old Town Square, ride a tram to Prague Castle, and tour its key interiors with guides such as Petra, Honza, or Mike. See St. Vitus Cathedral, the Old Royal Palace, St. George’s Basilica, Golden Lane, Kampa, Lennon Wall, and Charles Bridge in about 3.5 hours.

“We had the best time with Petra! She was so knowledgeable. The tour is long but totally filled with stops and information. Totally worth it and would recommend to start your journey in Prague! FYI if you’re going in the winter it sounds obvious to dress warm, but the castle is EXTRA cold so do prepare for that.”

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Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket - Mercado de San Miguel and a taste of Spanish food culture
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Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket

15.Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket

★★★★★★★★★★4.5 · 1,829 reviews · 2 hours 10 minutes (approx.) · from $40

Walk from Calle Mayor through Plaza Mayor, Mercado de San Miguel, and Madrid’s medieval core before entering the Royal Palace with a guide. The English tour lasts about 2 hours 10 minutes, costs $40.01, and uses headphones so you can follow along in a group of up to 30.

“The audio went on and off and we lost half of the sound during the whole trip . Better go by ourself .”

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