Rajasthan in 10 Days: Jaipur, Jodhpur, Jaisalmer and Udaipur

A 10-day Rajasthan itinerary: Jaipur, Jodhpur, Jaisalmer and Udaipur day by day, with drive times, where to slow down and what a first trip can skip.

By the Lux India Tours Team·Oct 19, 2026

Destination GuideItinerary InspirationPlanning GuideRajasthan

Mehrangarh Fort rising above the blue-washed houses of Jodhpur's old city

Ten days gives Rajasthan room to breathe. You can see four great cities, spend a night in the desert and still have time for an unhurried afternoon by a lake.

This plan runs from Jaipur to Jodhpur, Jaisalmer and Udaipur, which keeps the long drives sensible and ends on the most relaxing stop.

Mehrangarh Fort rising above the blue houses of Jodhpur

Mehrangarh Fort above Jodhpur.

Days	Base	Highlights	Next leg
1 to 3	Jaipur	Amber Fort, City Palace, Hawa Mahal, bazaars	About 5.5 to 6 hours to Jodhpur
4 to 5	Jodhpur	Mehrangarh, the Blue City, a stepwell	About 5 to 6 hours to Jaisalmer
6 to 7	Jaisalmer	The fort, havelis, dunes at sunset	About 8 to 9 hours to Udaipur, or fly via Jodhpur
8 to 10	Udaipur	City Palace, Lake Pichola, a day trip	Fly or drive out

Drive times are guides. Roads and traffic vary.

Days 1 to 3: Jaipur

Spend the first morning at Amber Fort, then the City Palace and Jantar Mantar. Keep an evening for the bazaars and a rooftop dinner. See our Amber Fort guide, the Jantar Mantar guide and the markets guide. The third day is for a slower choice: a leopard safari, a cooking class or a block-printing workshop.

Days 4 to 5: Jodhpur

Drive via Pushkar if you want a lakeside lunch. In Jodhpur, give a full morning to Mehrangarh Fort, and an evening to the old city's blue lanes. See the Mehrangarh guide and the Jaipur to Pushkar guide.

Days 6 to 7: Jaisalmer

Drive west across the desert. The fort is a living town, best in the late afternoon. On the second day, go to the Sam dunes for sunset and sleep in a desert camp. See the Jodhpur to Jaisalmer guide, the Jaisalmer fort guide and the Sam dunes guide.

Days 8 to 10: Udaipur

The drive from Jaisalmer to Udaipur is very long, so most travellers fly from Jodhpur or add an overnight stop. In Udaipur, spend a day on the lake and palace, a day on a trip to Ranakpur and Kumbhalgarh, and a day to rest. See the Udaipur in three days guide and the Ranakpur guide.

Where to slow down

If you want the plan to feel less packed, spend an extra night in Udaipur and one fewer in Jaipur. The first days of a trip are when people have the most energy, and the last days are when they want to do nothing.

What a 10-day plan leaves out

Ranthambore: a tiger safari that needs two nights. See the Ranthambore guide.
Bikaner and Shekhawati: better for a second trip.
Mount Abu and Kumbhalgarh: can be added from Udaipur.