St. Augustine stands out as a highlight for lovers of American history. Its unique mix of Spanish colonial architecture, ancient forts, and tales of pirates and explorers make it a living museum. The city’s compact size and walkable historic district mean you can see a lot without spending hours in transit—and that’s exactly what makes it ideal for diverse types of tours. Whether you’re interested in a quick electric vehicle ride, a walking history session, or a boat cruise that combines wildlife with landmark views, St. Augustine offers something tailored to your curiosity. For a deeper dive into its past, exploring the most engaging and well-reviewed options ensures you get a true sense of the city’s story.
To help you decide, we’ve put together a list of the 15 best historical tours in St. Augustine, tailored for different interests and pacing preferences. From private guides to small-group explorations, these tours showcase the city’s most iconic sites and some hidden stories.
Quick Overview
Our list features guided electric vehicle tours, such as Guided Historical Tour of St. Augustine Per Person, which offer quick overviews with a personal touch. For those wanting a more intimate experience, Step back in time with pastime private historical tours combines vintage style with storytelling. Walking tours like History Walking Tour in St. Augustine and History and Legends tour provide in-depth looks at architecture and legends. Boat options like Adventure Boat Tours bring a water perspective, blending wildlife with history. Finally, private and specialty tours, such as the 2-hour Private Day Sail, let you tailor your experience on the water or in an exclusive setting.
Now, let’s explore each in detail.
1. Guided Historical Tour of St. Augustine Per Person
This small-group electric vehicle tour is a fantastic way to see major landmarks in about an hour. It’s a smart choice if you want a quick, environmentally friendly overview of key sites like Castillo de San Marcos, Tolomato Cemetery, and Mission Nombre de Dios. The open-air electric vehicle makes the tour breezy and fun, and with groups capped at nine people, you’ll get plenty of personal attention. The guides are knowledgeable, sharing stories that bring the city’s 450-year history alive. Reviewers love this tour for its seamless experience and engaging narration, with one calling it “one of the best tours I’ve taken anywhere.” It’s also flexible, with multiple times available.
Bottom Line: Perfect for first-timers wanting a quick and personable overview without the crowds.
2. Step back in time with pastime private historical tours
For around $37.50, this private tour offers a vintage 1920s vehicle experience, making your journey around St. Augustine both charming and exclusive. It’s limited to four riders, allowing for an intimate look at sites like the Castillo de San Marcos and Flagler College, plus stories of haunted legends. The guide’s themed vintage outfit adds an extra layer of atmosphere, and the round-trip hotel pickup makes it convenient. Several reviews highlight how informative and engaging the guide is, with comments like “the best tour in Saint Augustine.” This tour appeals especially if you’re interested in a personalized, story-rich experience in a cozy setting.
Bottom Line: Ideal for history lovers who want a private, immersive experience with a vintage twist.
3. History Walking Tour in St. Augustine
If you prefer to explore on foot, this 1.5-hour walking tour takes you through the heart of the city’s historic district. It covers cultural highlights such as the Ximenez-Fatio House, Spanish Military Hospital, and Plaza de la Constitución. Your guide sheds light on the city’s tumultuous past, Spanish colonial architecture, and the stories behind each landmark. Small groups mean lots of opportunity to ask questions, and reviews praise guides like Alex for their depth of knowledge. This tour is well-suited for those wanting a thorough, paced exploration of the city’s core.
Bottom Line: Best for visitors who want a comprehensive, on-foot history lesson with plenty of personal interaction.
4. 1 Hour Historical Tour of Saint Augustine Florida & FREE Parking
This private tour packs in popular sites like Cathedral Basilica and St. Francis Barracks in just an hour, with the bonus of free parking. It’s especially convenient if you’re short on time or want to fit in a quick overview before heading elsewhere. The tour takes you through the city’s most interesting spots, with a narrator sharing stories about their significance. Reviewers mention how well-organized and informative it is, with friendly guides making the experience enjoyable. The open-sided vehicle ensures you’ll see everything comfortably.
Bottom Line: A quick, flexible way to hit the highlights and get oriented.
5. Adventure Boat Tours – One Hour Dolphin/Eco/History/Sightseeing Boat Tour
For a different perspective, this 1-hour boat tour combines dolphin sightings with a lesson on the area’s ecology and history. It’s family-friendly and runs from Vilano Pier, offering views of famous landmarks like the Castillo de San Marcos from the water. Travelers rave about the opportunity to see dolphins in their natural environment and enjoy the scenic waterfront. The boat is spacious, with unobstructed views, and the narration adds depth to the experience.
Bottom Line: Excellent for families or those wanting a relaxed, water-based tour with wildlife spotting.
6. Walking Guided History Tour of Old St. Augustine
This 1.5-hour walking tour dives into the city’s most storied sites, including the Ximenez-Fatio House, Spanish Military Hospital, and Flagler College. It’s another perfect option for those who like to learn while walking, with guides sharing stories about Spanish, British, and American influences. It’s highly rated for its personalized attention and engaging storytelling, making history accessible and fun. Reviewers appreciate the pace and the opportunity to ask questions along the way.
Bottom Line: A comprehensive walk that’s ideal for history enthusiasts eager to absorb the city’s layered past.
7. Riding Through History of St. Augustine: Premium Tour with PiCk Up
This private 1-hour tour offers a personalized experience for groups of up to six in a low-speed vehicle. It takes you through key sites like Lightner Museum, Ponce de Leon, and the Old Jail, with stops in Historic Lincolnville and Maria Sanchez Creek. The guide shares stories of the city’s founding and local wildlife. The reviews highlight the knowledgeable guides and flexible scheduling. It’s perfect if you want a tailored, relaxed ride with many opportunities for photos.
Bottom Line: Best suited for small groups seeking a private, flexible overview with local insights.
8. History and Legends tour of Saint Augustine
This 90-minute walking tour combines historic facts with local legends, visiting sites like Flagler College, the Bridge of Lions, and the Cathedral Basilica. The guide shares stories of pirates, haunted spots, and early settlers, making the past come alive. It’s accessible for wheelchairs, strollers, and service animals, making it inclusive. Reviewers mention the guide’s enthusiasm and storytelling skills that make history engaging and memorable.
Bottom Line: Excellent for those interested in both history and local lore in a relaxed walking format.
9. 2 hours – Private Day Sail along Historic St Augustine Bayfront
This luxury sailboat allows up to six people to enjoy a personalized water adventure. Captained by a USCG-licensed professional, the sail takes you past dolphin hotspots and historic landmarks. Reviewers love the peaceful, scenic experience of being on the water, with options for wildlife viewing and photography. It’s a luxurious, quiet option for couples or small groups wanting a special, intimate outing.
Bottom Line: Suited for travelers seeking a romantic or exclusive escape on the water.
10. Historic Museum Tour Ticket
Prebook this Spanish Military Hospital Museum admission to guarantee access during busy times. The museum features live reenactments and exhibits about colonial medicine, making history tangible. The guided tour provides a fascinating look at colonial surgery and herbal medicines, with reviews praising the friendly, knowledgeable staff. It’s ideal if you want a focused, educational experience indoors.
Bottom Line: A smart choice for history buffs interested in early medicine and colonial life.
11. Saint Augustine Historic District Photo Tour
For photography enthusiasts, this 2-hour tour combines city landmarks with camera tips. Led by a professional photographer, you’ll explore Aviles Street and the Father Miguel O’Reilly House, learning how to capture composition and lighting. Travelers appreciate how the guide helps them see the city through their lens and improve their skills. It’s perfect for beginners who want to improve their photography while sightseeing.
Bottom Line: A practical and fun way to combine photography skills with cultural exploration.
12. Secrets of Saint Augustine Historical Walking Tour
This tour peeks behind the scenes with secrets and lesser-known stories about St. Augustine. With a small group and a guide who shares stories about crime, myths, and hidden spots, it offers a fresh perspective. Reviewers mention the personalized nature and unexpected stories that set it apart from typical tours. It’s ideal for travelers who think they’ve seen it all and want to uncover more obscure tales.
Bottom Line: Great for seasoned visitors eager for new stories and local secrets.
13. Dolphin Watch & Harbor Tour in Historical St. Augustine
This 1.5-hour cruise is a wonderful water experience for families or couples, blending dolphin watching with views of the Castillo de San Marcos. The spacious 65’ catamaran offers unobstructed views, and reviewers love the relaxing pace and informative narration about wildlife and history. While some mention a lack of historical commentary during their trip, most appreciate the peaceful scenic ride and opportunities for photos.
Bottom Line: Ideal for wildlife lovers or those wanting a tranquil, scenic cruise with a bit of history.
14. Story of St Augustine private golf cart history tour for up to 5 people!
This private golf cart tour is designed for small groups of up to five, combining environmental friendliness with personalized storytelling. It covers the oldest street (Aviles Street), highlights museums, and local hangouts. The reviews praise the informative and engaging guide Ryan, along with the easy parking and relaxed pace. It’s a great way to explore without much walking, perfect for those with mobility concerns or who prefer a quieter, intimate tour.
Bottom Line: Best suited for small groups wanting a customized, comfortable experience.
15. ST. Augustine Historic Founding to Gilded Age Walking Tour
This 1.5-hour tour offers a broad overview of the city’s origins, colonial battles, and Gilded Age wealth, visiting sites like Castillo de San Marcos and St. George Street. The guide shares stories of pirates, early settlers, and elite families, making it a rich narrative experience. Reviewers comment on the guide’s passion and storytelling skills, making history come alive in a relaxed walking format.
Bottom Line: Perfect for travelers who want a broad but detailed overview of St. Augustine’s evolution.
How to Choose Your Perfect Tour
When selecting among these options, consider your budget, time constraints, and interests. If you prefer a quick orientation, the Guided Historical Tour offers great value at $34. With limited mobility or a desire for exclusivity, the private PiCk Up tour or golf cart experience are excellent choices. For those passionate about photography, the Photo Tour combines education and exploration. If water and wildlife appeal, the Dolphin/Eco Boat Tour or the private sailing offer memorable experiences.
Booking early is wise, especially during peak seasons or holidays, to guarantee your preferred time slot. Think about how much walking you’re comfortable with—walking tours are often more immersive, but vehicle and boat options provide a relaxed alternative.
Final thoughts:
Whether you opt for a quick electric vehicle tour, an intimate private ride, or a water-based cruise, St. Augustine offers a variety of ways to explore its storied past. For first-time visitors, the Guided Historical Tour provides a solid overview, while history enthusiasts might prefer the History Walking Tour or Secrets Tour. Water lovers will enjoy the Eco Tour or exclusive sailing trip.
No matter your choice, booking early and choosing a tour that matches your pace and interests will make your visit to America’s Oldest City truly unforgettable.