Denver’s wide-open spaces and mountain backdrop make it a city worth exploring beyond just the skyline. Its neighborhoods buzz with history, art, and local flavor, and the city’s friendly vibe is easy to enjoy on guided tours tailored for every type of traveler. Whether you’re after a quick overview of highlights, a deep dive into Denver’s past, or an active adventure on an e-bike, the options are plentiful. With vibrant neighborhoods like LoDo, historic landmarks, and scenic spots like Red Rocks, Denver rewards those who take time to look beyond the usual tourist spots. These tours offer a practical way to get your bearings, learn about local quirks, and uncover stories you won’t find in a guidebook.
For a well-rounded experience, consider options that match your time frame and interests—whether that’s a 2-hour walking tour (Denver: City Highlights and History Walking Tour) or a full-day private adventure (Denver: Private City Highlights Tour with Red Rocks). Here’s a curated list of the best city tours in Denver, with details to help you choose the one that fits your style and schedule.
1. Denver: City Highlights, Views, and Secret Spots Bus Tour
At number 1, this 105-minute bus tour offers a quick but rundown of Denver’s most recognizable sights and lesser-known corners. For $40, a local guide points out landmarks like Larimer Square, the Denver Art Museum, and the Big Blue Bear while sharing stories that bring the city’s past to life. The highlight is climbing the Mile High Steps — a photo-worthy moment that captures the city’s nickname perfectly. Guests rave about Rick, the guide, describing him as “informative and personable,” making the city feel relatable and welcoming.
This tour is especially suited for travelers with limited time or those new to Denver who want an engaging snapshot of the city’s core. It’s a good value for its duration and the personal stories that make Denver memorable. Keep in mind, it’s a bus tour, so it’s less intimate but a solid way to get oriented quickly.
Bottom Line: Ideal for visitors short on time who want a friendly, informative overview of Denver’s highlights.
2. Denver: City Highlights and History Walking Tour
Number 2 on our list is a 2-hour small-group walking tour for $39, perfect for those who prefer a more intimate, up-close experience. Led by a knowledgeable local guide, you’ll explore historic landmarks like the Colorado State Capitol, Larimer Square, and Union Station. The tour emphasizes Denver’s past without overwhelming you with dates, focusing instead on stories and the city’s evolution.
Guests praise the guide’s friendliness and depth of knowledge, with reviewers noting they gained an appreciation for Denver’s architecture, history, and local flavor. The tour includes inside visits to places like the Brown Palace Hotel and ends near Union Station, making it easy to continue exploring afterward.
Bottom Line: Best suited for travelers who want a personal, relaxed walk through Denver’s historic center and a chance to ask questions.
3. Denver City Highlights Tour
The third spot features a 2-hour minibus tour for $49, designed for those who want to see more of Denver without walking. It includes stops at Union Station, Larimer Square, Civic Center Park, and the Denver Art Museum, with a flexible itinerary that emphasizes city streets and neighborhoods.
According to reviews, this tour offers excellent value, with guides who are friendly and knowledgeable. The route is perfect for first-timers looking to get their bearings or families wanting a quick overview of Denver’s major neighborhoods and landmarks.
Bottom Line: Great for visitors wanting a relaxed, informative ride around Denver’s highlights with tips for exploring further.
4. Denver’s Best Guided eBike Tour | E-Bike All of Mile High City
Number 4 is an around 2-hour guided e-bike tour for $105 per person. It’s perfect if you want to cover more ground with less effort, thanks to pedal assist. You’ll visit places like Denver Union Station, the Denver Center for the Performing Arts, Civic Center Park, and the Denver Art Museum, with each stop lasting about 10 minutes. E-bikes are supplied, along with helmets and bottled water, making it convenient for beginners or those who dislike tiring rides.
Guests often mention how fun and smooth the ride is, with one reviewer calling the guide “full of interesting information about Denver.” It’s especially suitable for travelers who want a more active experience but don’t want to break a sweat. The small-group format ensures a personal touch.
Bottom Line: Perfect for active travelers wanting to see Denver’s key sights at a relaxed pace with a modern twist.
5. Denver’s Highlights: A Guided Bike or Ebike Adventure
This 3-hour bike tour for $75 offers a mellow ride through RiNo murals, Larimer Square, Union Station, the Capitol, Dairy Block, and Cherry Creek. It’s an excellent choice for those who enjoy biking and want to see some of Denver’s most photogenic spots.
Rated highly, reviewers mention the “easy ride” and “plenty of stops,” making it accessible even for first-time cyclists. Jeremy, the guide, is praised for his friendly attitude and good storytelling. The tour balances urban scenery with interesting facts about Denver’s development.
Bottom Line: Great for bike-lovers who want a laid-back, social way to explore Denver’s diverse neighborhoods.
6. Denver City 2 Hour Walking Tour
The sixth spot goes to a personalized 2-hour walking tour for $39. This is one of the few tours where you can start anywhere in Denver, as the guide customizes the route based on your interests. Popular stops include Denver Union Station and the Brown Palace Hotel, with optional visits inside if you wish.
With only two reviews, it’s clear this tour is still gaining popularity, but those reviews highlight a friendly guide and well-paced experience. It’s best for travelers who love to explore on foot and want a tailored experience.
Bottom Line: Ideal for those who prefer a flexible, small-group walk and want a personal touch.
7. Jetboard on Lakes near the Mile high city
At number 7, this electric surfboard experience offers a high-energy day of jetboarding on Colorado lakes. For $250, you get lessons, safety gear, and a chance to ride up to 24 mph in a one-hour session. Perfect for thrill-seekers, it’s a unique way to combine water sports with Colorado’s outdoor spirit.
Instructors are energetic and efficient, making it accessible even for beginners. It’s best suited for active travelers looking for something completely different from the typical city tour — think on-water adrenaline rather than sightseeing.
Bottom Line: For adventure lovers who want to try something totally different, this jetboard session is a highlight.
8. Denver City Highlights – Private Tour
Number 8 offers a customizable 3-hour private tour for $449, perfect for those wanting an exclusive experience. The guide takes you to key spots like Larimer Square, Civic Center, and the Denver Art Museum, with personalized attention and flexible timing.
The itinerary includes insider stops and the option to explore at your own pace. Reviewers value the private setting for its tailored approach, ideal for families, couples, or small groups seeking a relaxed, private day.
Bottom Line: Best for travelers who want a bespoke Denver experience with a flexible schedule.
9. Denver: Private City Highlights Tour with Red Rocks
This 6-hour private tour for up to six people is a fantastic way to combine city sights with a visit to the iconic Red Rocks Amphitheatre. For $490, it covers major sites, including wildlife sightings and Colorado’s scenic landscapes, with plenty of time at each stop.
Reviewers highlight the enthusiasm and knowledge of the guide, making it a memorable day out. It’s perfect for families or groups wanting an in-depth, flexible experience that mixes urban and outdoor Colorado.
Bottom Line: A versatile choice if you want a personalized, full-day exploration including Red Rocks.
10. Private 4-Hour Driving Tour in Denver City
Number 10 features a 4-hour private driving tour for $39 per person. This allows you to customize your itinerary, visiting spots like Larimer Square, the Brown Palace, and Coors Field with a professional guide in the driver’s seat.
It’s perfect for travelers who want control over their sightseeing and prefer comfort over walking. Reviewers find it a good value for a half-day tour that covers Denver’s highlights with insider insights.
Bottom Line: Ideal for those who want a flexible, private experience without the exertion.
11. Denver: City Highlights Guided E-Bike Tour
This 2-hour guided e-bike tour for $105 combines the ease of pedal assist with sightseeing. You’ll visit Union Station, explore the thriving LoDo district, and learn about Denver’s growth from a knowledgeable guide. It’s a low-impact way to see a lot quickly, perfect for travelers who want activity but with comfort.
Guests appreciate the safety and fun of riding an e-bike, with one describing their guide as “knowledgeable and safe,” even navigating busy areas. It suits those who prefer a guided experience on wheels.
Bottom Line: Excellent for active explorers seeking an accessible, informative, and fun city ride.
12. Denver: After Dark Ghosts of the City Walking Tour
Number 12 is an adults-only 1.5-hour ghost tour for $35. It explores Denver’s darker side, revealing tales of vice, crime, and hauntings at landmarks like Union Station and the Oxford Hotel. It’s a spooky, fun break from the daytime sightseeing.
Reviewers note the eerie stories and the “spooky atmosphere,” making it ideal for history lovers with a taste for the macabre. This tour is a good pick for late-night thrill-seekers.
Bottom Line: Perfect for those interested in Denver’s darker stories and ghostly legends.
13. Private Departure by SUV from Denver City to Denver Airport DEN
Number 13 offers a private SUV transfer for $264.72 per person, ensuring a smooth and stylish ride to Denver International Airport. It’s a practical choice for avoiding long taxi lines and travel stress, especially after a busy trip.
Travelers appreciate the comfort and efficiency, particularly when catching early flights. It’s less about sightseeing and more about convenience and comfort.
Bottom Line: Ideal for travelers prioritizing comfort and punctuality when departing Denver.
14. Arrival Transfer Denver Airport DEN to Denver City by Luxury Car
Number 14 is a luxury airport transfer in a private vehicle, priced at $169.69 per person. It’s designed for those who want a relaxed start or finish to their trip, avoiding shuttle lines and rushing.
Guests note the comfort and ease, especially useful if arriving late or departing early. It’s a no-fuss way to begin or end your Denver visit in style.
Bottom Line: Best for travelers valuing comfort and seamless service at the start or end of their trip.
15. Lakewood City Scavenger Hunt Excursion by Zombie Scavengers
This group scavenger hunt for $20 offers a playful way to explore Lakewood in just an hour. Using an app, you’ll search for items and complete zombie-themed challenges, turning city exploration into a game.
Ideal for groups or families who want a fun, interactive experience that’s different from traditional touring. It’s a lighthearted activity that requires no prior knowledge of Denver or Lakewood.
Bottom Line: Perfect for groups seeking a fun, competitive activity, especially on a short visit or with kids.
16. Departure by Luxury Sedan from Denver City to Denver Airport DEN
The final option is a luxury sedan transfer for $144.24 per person, combining style and convenience for your airport journey. It’s suited for travelers who want to travel without hassle and arrive relaxed.
Reviewers mention the comfort and professionalism, making it a reliable way to wrap up your trip.
Bottom Line: Excellent for those who value a premium, comfortable ride to the airport.
How to Choose the Right Denver Tour
When selecting your ideal tour, consider your budget, available time, and personal interests. For those short on time, the bus or minibus options (Denver: City Highlights, Views, and Secret Spots Bus Tour) and 2-hour walking tours provide quick overviews. If you love outdoor activities and want to combine sightseeing with exercise, e-biking and bike tours are excellent choices. For a personalized experience, private tours and Red Rocks trips give you flexibility and an intimate vibe.
Booking early is recommended, especially in peak seasons, to ensure availability. Think about your fitness level, interests (history, art, adventure, or spooky stories), and how comfortable you want your experience to be.
Final Thoughts
Denver offers a remarkable variety of city tours to suit almost every taste. For a quick, rundown, the bus tour (Denver: City Highlights, Views, and Secret Spots Bus Tour) is hard to beat. If you prefer a more personal touch, the small-group walking tour or private experiences will serve you well. For adventure enthusiasts, the e-bike and jetboarding options bring energy and fun.
Whatever your style, booking early and choosing a tour that matches your interests will ensure you get the most out of your visit to Denver’s dynamic streets and scenic surrounds. Now, all that’s left is to pick your favorite — and get exploring!