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Best Walking & City Tours in San Francisco
Explore the top-rated walking & city tours in San Francisco. Our curated guide features 10 highly-rated experiences, averaging 5 stars, to help you plan the perfect visit.
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Top 10 Ranked
Best Walking & City Tours in San Francisco
Our expertly curated list of the best walking & city tours in San Francisco, ranked by traveler reviews and ratings.
#1
Top Rated
Private Full-Day San Francisco City Tour + Muir Woods 7 hr, Max 6
5 (14)
From $417 USD
Muir Woods in the morning and City Tour in the afternoon In the Morning: Start in Fisherman's Wharf then over the Golden Gate Bridge North to the Muir Woods National Monument to see the giant redwoods. Your visit inside the park is self-guided. Your guide will be waiting for you after your park visit. Stop at Muir Beach Overlook to catch a view of the Pacific Ocean. Stop in the bayside town of Sausalito. A quick stop for grab-and-go lunch in Sausalito Stop at Golden Gate Bridge overlook on the way back to san Francisco In the Afternoon: Two to Three-hour San Francisco tours cover many of the major sites: Fisherman's Wharf, Union Square, Presidio, Golden Gate Park, Twin Peaks, Chinatown, Lombard Street (traffic permitting), Coit Tower, and North Beach (“Little Italy”). Our Jeeps fit up to 4 adults and 2 children. The 3rd row seating is perfect for children and teens.
#2
Top Rated
Private San Francisco Mission District Food Tour with +5 Tastings
5 (11)
From $306 USD
On our Secret Food Tour: San Francisco - North Beach and Chinatown, you’ll experience the most iconic parts of “The City by the Bay.” Our experienced guides will take you on a delicious journey through the Gold Rush days of the Barbary Coast. While most tour companies only focus on one neighborhood over the other, we dive deep into both to offer you a taste of the best of both worlds. On your journey, you’ll bite into pizza with a surprise topping straight from the Pacific bay! You will explore West Coast coffee culture and find yourself wanting more of our secret bite! You’ll also discover the inner workings of our world famous cable cars, investigate the naughty red light district, uncover where the “The Godfather” was written and conceived, and wander through the alleys where the original miner 49’ers cashed in their sacks of new found gold. All in one afternoon! As a private tour, everything works around you! Our start times are much more easy going, dates can open up.
#3
Top Rated
Private Muir Woods and Sausalito Half Day Tour
5 (3)
From $699 USD
Escape the busy city life and head to Muir Woods National Monument to spend a half-day on a privately guided tour of one of the only groves of historic coastal redwoods in the area. Stop in the seaside village of Sausalito where you’ll see stunning views of San Francisco.
#4
Top Rated
Walking Tour of Nob Hill - Cable Cars, Luxury Hotels, French-Gothic Cathedral
5 (2)
From $175 USD
When Robert Louis Stevenson visited San Francisco in 1879, he declared, "Nob Hill, the Hill of Palaces, must certainly be counted the best part of San Francisco. It is here that millionaires gathered together, vying with each other in display". My Nob Hill tour is a 2-hour walking photo-shoot tour that starts with a Cable Car ride and a visit to a French Gothic Cathedral and ends at the Top of the Mark on the 19th floor of the InterContinental Mark Hopkins Hotel for photographs and beverages at sunset. The eclectic history of Nob Hill includes: * The Gold Rush (not the San Francisco 49r cheerleaders) * The Silver Bonanza (not including Ben Cartwright, Ben, Hoss or Little Joe) * The Transcontinental Railroad * The 1906 Earthquake and Fire, and * A spectacular French-Gothic design Episcopal Cathedral that took nearly 40 years to build. The opportunities for photography are endless on Nob Hill!
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#5
Top Rated
Private San Francisco City Tour + Alcatraz (Tickets Incl., Max 6)
5 (3)
From $242 USD
Our Alcatraz Ferry and Island Tour PLUS San Francisco Private Group City Tour offers an extraordinary day of discovery! Start your morning with a private tour of San Francisco’s top attractions, including iconic sites like the Golden Gate Bridge and Fisherman’s Wharf. In the afternoon, embark on an exciting ferry ride to explore the rich history of Alcatraz Island. How the Alcatraz City Tour Combo Package Works: City Tour: Choose between a private 2 or 3-hour city tour, starting at 9:00 AM. Ending at 11:00 AM or 12:00 PM. Alcatraz Ferry Timing: If your Alcatraz ferry departs within 1 hour after the city tour, we'll drop you off at Pier 33 (Alcatraz Landing) 30–60 minutes before. If your ferry departs more than 1 hour later, you'll be dropped at PIER 39 to relax and eat before walking to Pier 33. Alcatraz Tour Length: The Alcatraz tour takes 2–3 hours. You can return to Pier 33 at your own pace. Important: Return transport from Pier 33 is not included; the activity ends there.
#6
Top Rated
San Francisco Private Intro Tour with a Local – Custom & Flexible
5 (1)
From $84 GBP
San Francisco is a city of striking contrasts, where waterfront history meets creative energy and diverse neighborhoods shape its identity. With your local host, you will go beyond the obvious sights and experience the city through its stories, scenic piers, and the everyday moments that bring it to life. Before the tour begins, you will complete a short online questionnaire so we can match you with the right local host to design your ideal San Francisco experience.
#7
Top Rated
San Francisco Sightseeing Private Tour (3-Hour minimum)
5 (1)
From $430 USD
We provide luxurious door-to-door transportation services. Prior to one hour from a scheduled pick-up time, the passengers will receive a courteous reminder via text messaging that the chauffeur is on the way. We are always on time and arrive 15 minutes prior. Chauffeur will open a door for our clients and assist with luggage. Our vehicles 2023 and newer. Clean and sanitized between trips. Passengers responsible to select attractions and restaurants they'd like to visit in advance and confirm all reservations before booking the tour. Concierge assistance (group of up to 6 people) available for additional fee.
#8
Top Rated
Gold Greed and Gunslingers Forging San Francisco By Junket
5 (2)
From $32 USD
Come on our History Walking Tour of San Francisco! Travel back in time to the San Francisco of the late 1840s and early 1850s with this Gold Rush History Tour. You'll visit sites important to the early history of San Francisco, and by extension, all of California. From Portsmouth Square, to Sydney Town, to Pier 7, explore the locations, people, and legends that make up some of the darker side of San Francisco's early history, replete with tales of greed, discrimination, feuds, and lawless violence.
#9
Top Rated
San Francisco's Glen Park and Glen Canyon: A Self-Guided Tour
5 (1)
From $10 USD
The village of Glen Park is nestled among the slopes of the San Miguel Hills near the heart of San Francisco, just south of Twin Peaks. It is the gateway to a hidden gem of 70 acres of open space known as Glen Canyon, of which 60 acres is officially designated as a Significant Natural Resource Area. Much of the history of Glen Park and Glen Canyon is closely intertwined, from early open-range cattle grazing and "milch" ranches, to an explosive direct link with today's prestigious Nobel Prizes, to a radical sales gimmick for selling home lots that included just about everything from lions and bears to trick shooters and high-flying aeronauts! In addition to the area's remarkable cultural history, we'll also discover some of the highlights of the canyon's natural history as we trek through. The tour is ready whenever you are and the audio plays automatically at exactly the right time and place using your smartphone's GPS and the VoiceMap mobile app, which also works offline.
#10
Top Rated
Enchanting Yosemite National Park Tour from San Francisco
5 (1)
From $385 USD
Explore and relish the enchanted day trip to Yosemite from SFO -something you don’t want to miss. Enjoy the great the great outdoors with both guided sightseeing and free time, ensuring you see the UNESCO World Heritage Site’s major attractions, like Half Dome, Yosemite Falls, and Yosemite Valley. Travel through the Central Valley farmlands, historical Gold Country, and the Sierra Nevada foothills Spend hours snapping photos of Yosemite’s stunning forests, rock formations, and waterfalls Visit Half Dome, Yosemite Falls, and El Capitan on a guided van tour. Enjoy free time to explore Yosemite’s other natural wonders by foot or bike. Take in a breathtaking panorama from the Tunnel View overlook for an expansive view of the Yosemite Valley. Small-group tour with a private and group options limited to 5 ensures a more personalized experience.
Review counts and ratings based on Viator and Tripadvisor data
Frequently Asked Questions
How much do walking & city tours cost in San Francisco?
Walking & City Tours in San Francisco range from $10 to $699, with an average price of $278. The highest-rated option is "Private Full-Day San Francisco City Tour + Muir Woods 7 hr, Max 6" with a 5-star rating.
What are the best walking & city tours in San Francisco?
San Francisco has 10 walking & city tours available, averaging 5 stars across 39 reviews. The top-rated experience is "Private Full-Day San Francisco City Tour + Muir Woods 7 hr, Max 6".
How do I plan a trip to San Francisco?
Plan Harmony makes it easy to organize your San Francisco trip. Browse experiences, build a collaborative itinerary with friends, and track your budget in one place.
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