Estepona might not be as famous as Marbella or Malaga, but it’s a place where genuine experiences shine. Its charming old town, lively marina, and close proximity to natural wonders make it a fantastic destination for exploring on foot, by boat, or even on a bike. We particularly love the walking tour through Estepona’s historic center, which offers a chance to uncover its stories while wandering flower-filled streets. For those craving adventure at sea, options like dolphin watching or private yacht charters provide luxurious ways to enjoy the Mediterranean coast. And if trying something active appeals, windsurfing lessons or yoga on a boat can transform your visit into a memorable and energizing experience.
Whether you’re interested in cultural walks, sailing, or outdoor sports, Estepona has a diverse menu of tours that suit different tastes and budgets. The list below highlights some of the best options, each offering a unique way to experience this Andalusian town.
Quick Overview
Our list features a variety of walking tours, boat trips, and outdoor activities. You can enjoy a historic walk through Estepona’s charming streets (Tour por Estepona Centro), explore the coastline on a private yacht or sailboat, or spot dolphins on a dolphin watching cruise (Dolphin watching in Estepona). For sport lovers, windsurfing classes (Costa del Sol: Beginner class Dynamic Windsurfing) and yoga on a catamaran (Estepona: Pilates on a Catamaran and Sunset Cruise) offer active ways to enjoy the sea. Bike enthusiasts can explore the Old Town and Golden Mile on a private eBike tour.
Now, let’s take a detailed look at each of these top-rated experiences.
1. Tour por Estepona Centro
At number 1 on our list, the Tour por Estepona Centro offers an intimate glimpse into the heart of this coastal town. This 1.5-hour walking tour takes you through Estepona’s historic streets, known for their vibrant flowers and charming architecture. The guide shares stories about local history and culture, turning a simple walk into a lively storytelling session. Giovanni’s knowledge about Estepona’s secrets makes this tour stand out — guests rave about how he feels like a local friend showing his town.
What makes this tour exceptional is its focus on hidden stories and important landmarks, making it perfect for travelers who want a genuine introduction without the hassle of a big group. The reviews highlight how informative and friendly the guides are, creating a relaxed, personal experience. This tour is ideal if you love walking, exploring historic centers, or simply want to get a feel for Estepona’s soul.
Bottom line: If you want to learn about Estepona’s past while wandering its picturesque streets, this walk is a perfect choice.
2. Dolphin watching in Estepona
For a two-hour adventure on the water, the Dolphin watching in Estepona trip is a must-do. Departing from the marina, this catamaran cruise offers the chance to see wild dolphins swimming freely in their natural habitat — an awe-inspiring sight that many travelers cherish. Alongside dolphin sightings, you can also swim in the open sea, making it a perfect mix of wildlife encounter and relaxation.
The crew, including Pepe and his team, are praised for their friendliness and professionalism. While seeing dolphins isn’t guaranteed — nature is unpredictable — the reviews show that most trips result in plenty of marine life views. The trip also includes opportunities to enjoy the outdoor sea breeze, with some guests mentioning how peaceful and beautiful it is to be out on the water.
Value for money is high, especially for families or groups who want a memorable marine experience. Plus, swimming far from the coast adds a sense of adventure.
Bottom line: If you’re keen on marine wildlife or want a relaxing sea outing, this dolphin cruise balances fun and nature in a charming setting.
3. Estepona: Private Yacht Charter with Captain
If luxury is your style, the Private Yacht Charter with Captain offers a bespoke experience on the Mediterranean. Starting from Puerto Deportivo de Estepona, you’ll set sail aboard a luxurious motor yacht, with the captain taking care of navigation and safety. The trip can range from 2 to 8 hours, giving you flexibility to explore as much or as little as you like.
The yacht features soft drinks and snacks, and you can even customize your experience with gourmet dining or special event packages. The deck’s bow solarium offers perfect spots for sunbathing, while the swim platform invites you for a quick dip in the clear waters. During the cruise, you’ll enjoy stunning coastline views, with options to visit nearby spots like Ceuta or even Morocco.
This experience is best suited for those seeking privacy, comfort, and a touch of elegance. It’s perfect for celebrating special occasions or enjoying a peaceful day at sea with family or friends.
Bottom line: For a luxurious, flexible day on the water, this yacht charter offers comfort and exclusivity that’s hard to beat.
4. Always private 4 hour – Sail- dolphin Yacht Charter-paddle
The Always private 4-hour sail combines sailing, dolphin watching, paddleboarding, and swimming into one package. This fully private experience includes a skipper to handle the boat, so you can focus on the fun. The sailing on a fully equipped sailboat gives you a chance to feel what it’s like to steer and put up the sails — no experience needed.
Highlights include swimming, snorkeling, and optional barbecues on board, with cold drinks to keep you refreshed. The itinerary’s flexibility allows you to choose activities, making each trip personalized. If the wind’s right, the crew switches off the motor and sails, making for a true sailing experience — a rarity in warm-weather tours.
The reviews mention the relaxing atmosphere and the thrill of helping with the sails, which appeals to adventure seekers. It’s best suited for couples or small groups seeking both hands-on sailing and leisure time.
Bottom line: For those wanting a true sailing adventure with the option to paddleboard and swim, this tour offers a personalized, hands-on experience.
5. Costa del Sol: Beginner class Dynamic Windsurfing
If you’ve ever wondered about windsurfing, the Beginner class in Costa del Sol is a great way to try this exciting sport. Over 2 hours, an instructor will teach you the basics of windsurfing and safety, then guide you while you practice on the water. The focus is on making sure you get a solid start, whether you’re totally new or have tried before.
The class takes place at Asociacion Torre de Baños with a short stop at a secret sailing location, adding an element of adventure. Guests appreciate the friendly instructors and the clear, step-by-step guidance. Because it’s a beginner course, it’s perfect for active travelers who want to add windsurfing to their list of skills.
While the review score is 4/5, the emphasis is on fun and learning, not on competing or advanced techniques. It’s a good value for those interested in a new sport in a supportive environment.
Bottom line: If you’re eager to learn windsurfing in a supportive setting, this class offers a hands-on intro perfect for beginners.
6. Estepona: Pilates on a Catamaran and Sunset Cruise + bubbly
Imagine practicing Pilates on a catamaran deck as the sun dips into the sea — this is exactly what the Pilates on a Catamaran and Sunset Cruise delivers. Over 2 hours, you’ll enjoy a tailored Pilates class while gently bobbing on the water, followed by a glass of cava as the sun sets over the Mediterranean.
The experience combines fitness and relaxation, with organic snacks and refreshing drinks included. The breathtaking views of the coast and open sea make this a unique way to unwind and connect with nature. The friendly and professional staff ensure everyone feels comfortable, regardless of fitness level.
Ideal for active travelers who want a calming exercise with a view, or couples celebrating a special moment, this experience blends wellness with scenic beauty.
Bottom line: For a relaxing, scenic workout complemented by a sunset toast, this cruise is an enriching addition to your Estepona trip.
The Private premium eBike tour is perfect for exploring Estepona’s diverse neighborhoods with ease. Over 3 hours, a guide leads you through the port area, historic old town, and along the Golden Mile — all without breaking a sweat. The electric bikes help you cover more ground than a walking tour while still enjoying the fresh air.
Guests praise the personalized experience and the chance to see different sides of Estepona. The guide shares insights into local life, architecture, and hidden corners, making it ideal for those interested in culture and scenery. The eBike makes it accessible for most fitness levels, especially if you want to avoid steep climbs.
This private tour offers flexibility and comfort — perfect for families, couples, or groups who want an active yet relaxed outing.
Bottom line: For a tailored, comfortable way to see Estepona’s highlights, the eBike tour balances activity with sightseeing.
8. Estepona: Yoga and Fitness Studio Class
If your goal is wellness and relaxation, the Yoga and Fitness Studio Class provides a variety of sessions, including Vinyasa, Hatha, and Mat Pilates. In just 75 minutes, you can improve your strength, flexibility, and posture with professional instructors in the heart of Estepona.
The studio’s friendly environment makes it suitable for all levels, whether you’re an experienced yogi or a complete beginner. The focus is on harmonizing body and mind, with exercises tailored to leave you feeling refreshed and balanced.
Guests appreciate the professional guidance and the variety of yoga styles offered, making it easy to find the right fit. It’s an ideal choice if you prefer a calm, indoor activity or need a break from outdoor adventures.
Bottom line: For a rejuvenating session that enhances both body and mind, this yoga class is a practical, calming addition to your trip.
9. Estepona: Private unforgettable sailing adventure – 12 pax
Looking for a more intimate sailing experience? The Private Unforgettable Sailing Adventure for up to 12 people offers a cozy, relaxed atmosphere. Departing from Estepona’s bay, you can enjoy snacks, swimming, and the chance to spot dolphins, though sightings aren’t guaranteed.
This trip is great for families, friends, or small groups celebrating special occasions. The boat is equipped for comfort, with options to bring your own food and drinks to customize your day at sea. The bottle of cava and wine included adds a touch of celebration.
Reviews are positive, emphasizing the friendly atmosphere and the flexibility of the itinerary. The focus on privacy and personalized service makes this ideal for those who want a tailored sailing outing.
Bottom line: If you want a private, relaxed sailing trip with the option for swimming and dolphin watching, this experience offers a luxurious and flexible day at sea.
10. Estepona: Private sailing trip ideal for groups of up to 10 people
The Private Sailing Trip for groups up to 10 is perfect if you’re after a short, lively cruise along the Costa del Sol. In just 2 hours, you’ll sail, swim, and possibly see dolphins, all aboard a classic Spanish sailboat.
This trip is ideal for families, friends, or celebrations. It’s flexible enough to include paddle surfing or just relaxing while soaking up the sun. The boat’s intimacy makes it easy to chat and enjoy the scenery. Since you can bring your own food and drinks, you can create a personalized experience tailored to your group’s preferences.
Reviews suggest it’s a fun, engaging way to enjoy the sea with a small group. The focus on flexibility, fun, and scenic views makes this a popular choice.
Bottom line: For a quick, friendly sailing experience with friends or family, this private trip offers a blend of activity and relaxation.
How to Choose the Right Tour in Estepona
When selecting your ideal tour, consider your budget, interests, and physical activity level. If you’re after a cultural experience, the Tour por Estepona Centro provides an authentic walk through the town’s streets. For sea lovers, dolphin watching or private yacht charters (see options here) give a luxurious touch. If you’re feeling active, the windsurfing lessons or eBike tours (more info here) combine sightseeing with exercise.
Think about timing: mornings are ideal for active sports like windsurfing, while sunset cruises (see sunset options here) are perfect for unwinding. Booking early is advisable during the busy summer months.
In summary, Estepona offers a wonderful mix of cultural walks, relaxing boat trips, and energetic outdoor activities. For a cultural intro, the historic walking tour (Tour por Estepona Centro) is a standout. For those craving sea adventures, dolphin watching or private yacht trips deliver luxury and fun. Active travelers should consider windsurfing or the eBike tour for a blend of sport and sightseeing.
Whether you’re traveling solo, as a couple, or with family, these experiences can turn a simple visit into a series of memorable moments. Book early to secure your preferred time, and enjoy everything Estepona has to offer.