RiNo District in Denver

20 Best Denver Tours That You Should Take For Grand Adventure

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Denver is one of the fastest-growing cities in the United States, that offers top-notch museums, great restaurants, and proximity to the great outdoors. 

In 2021, Colorado capital welcomed 31.7 million visitors, regaining much of the losses experienced during the height of the pandemic in 2020. 

Although the Mile High City is known as a gateway to adventure with countless trails for hiking and mountain biking, it also offers many museums, restaurants, and historic landmarks. You might not even have enough time to check the best things to do in Denver off your bucket list.

Whether you want to enjoy the Rockies, learn more about Denver’s history or explore the local beer scene, you can do it with one of Denver tours. 

 I created a list of the best Denver tours to help you choose the best experiences and get to know the area before heading back home, so you can skip renting a car in Denver.

Renting a car in Denver: Your complete guide

Best Denver tours by category

Best Denver tours: a complete overview:

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1. Discover Rocky Mountain National Park from Denver or Boulder

1745 reviews 

Rocky Mountain National Park is one of the most popular road trips from Denver.

Shortly called RMNP, this national park has become super popular in recent years with millions of people coming here every year. When you visit RMNP on your own, you need a timed permit, which can be tough to get, especially in the high season. 

When you visit Rocky Mountain with a guided tour, you don’t need to worry about logistics and planning. Instead, you can get picked up early morning and spend the day enjoying the panoramic views of the Rockies. This national park is a true outdoor playground with stunning alpine lakes, gurgling waterfalls, sprawling alpine meadows, and incredible wildlife.

 Click here to book your adventure in the Rocky Mountain National Park

As you travel through the park, you will enjoy Trail Ridge Road, the highest continuous paved highway in the U.S. National Parks System with plenty of hairpin turns and drop-offs. As you travel through the park, you can spot wildlife such as moose, elk, deer, and eagles. 

Whether you have visited Denver before or it’s your first time in the Mile High City, this tour is a must! 

What’s included: 

  • Lunch
  • Landing and facility fees
  • Bottled water
Garden of the Gods is one of the best road trips from Denver

2. Small Group Tour of Pikes Peak and the Garden of the Gods

791 reviews 

Colorado Springs is the second-largest city in Colorado after Denver with almost half a million people.

This city just south of Denver is a popular destination that is home to Gardens of the Gods and Pikes Peak, one of the most famous 14’ers in Colorado (mountains with an altitude of at least 14,000 feet), and a multitude of hiking trails.

 Click here to book a tour of Pikes Peak and Garden of the Gods

This popular Denver tour will take you to the Garden of the Gods where you can enjoy the gorgeous hikes suitable for all levels and later drive to the top of Pikes Peak along the scenic mountain pass that inspired the song “America the Beautiful.” 

The tour includes lunch and free time or shopping in the charming town of Manitou Springs nearby before you take a scenic drive through the foothills back to Denver. It’s a small group tour, so you get plenty of personal attention.

What’s included: 

  • Entrance fees
  • Bottled water
  • Local taxes
  • Fuel surcharge
Rocky Mountain National Park is one of the best day trips from Denver

3. Half-Day Rocky Mountain Escape

689 reviews

If you want to get out into the wilderness of the Rocky Mountains without the hassle of renting a car in Denver, this is one of the best Denver tours.

The half-day Rocky Mountain escape begins in Downtown Denver where you will meet your guide, then climb into a comfortable tour vehicle for the scenic ride into the nearby Rockies. You’ll explore places with your guide that you might not otherwise find on your own, so it’s a good opportunity to visit the hidden corners of the Rockies if you are new to the area.

 Click here to book half-day Rocky Mountain Escape

If you like exploring places off-the-beaten path, definitely consider this tour!

What’s included: 

  • Water Refill – please bring a reusable bottle
  • Professional Guide/Driver
Best tours from Denver

4. Foothills Explorer Tour From Denver

982 reviews 

One of the best things about Denver is its proximity to the great outdoors. Within one hour, you can find spectacular landscapes and many hikes. If you don’t have a car rental, the best way to enjoy these places is by joining a guided tour from Denver

During this adventure, you will explore the scenic foothills, get panoramic views of the mountain surroundings and stroll through small, historic towns before arriving in the small town of Evergreen for drinks. It’s a quick escape from the big city buzz and a taste of life in the mountains, and one you can easily fit in a day when visiting the Mile High City. 

 Click here to book Foothills Explorer Tour From Denver

The tour will stop at the Red Rocks Amphitheater and take you along Lariat Loop Stop at Evergreen for coffee or wine tasting. If you are craving the outdoors, don’t miss this Denver tour! 

What’s included: 

  •  Driver/guide
  •  Water refill – please bring reusable bottles
Best things to do in Denver Colorado
Located in the River North District, central Market is one of the best things to do in Denver, Colorado

5. Downtown Denver Food Tour

Over the last five (or so) years, Denver’s food scene has changed dramatically.

Whereas the city’s restaurants didn’t have much variety in the past, now you can find all sorts of options. From swanky fine-dining restaurants to corky vegan cafes, Denver has everything. If you are new to the city, it can be tough to narrow down your options. 

That’s why you should take a Downtown Denver Food Tour.

 Click here to book Downtown Denver Food Tour

Eat your way through downtown Denver, where you can sample food from five of the best restaurants in town, all in one afternoon. Discover award-winning eateries, authentic Neapolitan wood-fired pizza, freshly baked empanadas from a family-owned shop, and more. Your tour guide will also provide an overview of the Wild West era to give you more insight into its history. 

What’s included:

  • 5 food tastings
  • Three-hour guided experience with a local guide
  • Delicious Denver Food Tours Insiders’ Guide to Denver Dining

6. Rocky Mountain Zipline Adventure

Soar above the majestic Rocky Mountain landscape on some of the longest ziplines in Colorado! 

On this tour from Denver, you get to whiz through the fresh alpine air and admire the scenic landscape below on a series of cables totaling more than 6,000 feet (1,828 m) – the longest zippiness in all of Colorado! You get to soak up some of Colorado’s famous sunshine while you hike between the tracks. 

 Click here to book Rocky Mountain Zipline Adventure

Even if you have never done zip lining, this experience is suitable for all experience levels, including beginners. It’s a perfect Denver tour that allows you to escape the city and enjoy the Rockies from a few thousand feet. 

What’s included:

  • Certified guide
  • Safety equipment
  • Snacks
  • Pictures and video
Echo lake is one of the best day trips from Denver that makes a great tour

7. Half-Day Mountain Tour in Red Rocks Evergreen and Echo Lake

Denver tours are a perfect way to explore the best of the area without spending hundreds of dollars on a car rental, and this tour is just another example of it! 

This popular tour allows you to enjoy the stunning scenery of Mt. Evans, Bear Creek Canyon, and Squaw Pass, some of the most popular mountain passes in Colorado.

 Click here to book Rocky Mountain Zipline Adventure

After that, you will get a taste of mountain culture in the charming Evergreen, stop at Red Rocks Amphitheater, one of the most beautiful concert venues in North America, surrounded by dramatic red outcrops. Round up your hike around serene Echo Lake, where you will have a chance to soak in the views before returning to Denver. 

This small-group tour is offered year-round for different summer and winter scenery because Colorado is beautiful at any time of the year! 

What’s included:

  • Water refills. Bring your refillable water bottle. 
  • Local Professional Driver/Guide

8. Craft Beer Tour in Lower Downtown Denver

Denver is one of the top destinations for craft beer in the U.S. The city’s affair with this popular drink goes back to its origins when it was a mining town with old-school of saloons.

Whether you are a lover of craft beer or just want to deepen your toes into the local craft beer scene, this fun Denver tour will show you why Denver has the nickname the ‘Napa Valley of Craft Beer.’ 

 Click here to book a beer tour in Lower Downtown Denver

The experience takes you on a pub crawl through the historic Lower Downtown (LoDo) district. You will visit four local breweries to taste more than 10 samples of Colorado craft beer with a local beer expert.

You will learn about how Denver became the center of the craft brewing movement, and get an overview of the city’s oldest and most dynamic neighborhood.

This is one of the most popular Denver tours and customers give it great reviews. If you are new to the Mile High City and want to try local beer in a great social atmosphere, book your adventure.

What’s included:

  • Beverages
  • Local guide
  • Souvenir taster glass

9. Brews & Views

If you are a beer aficionado who wants to get out into the mountains and sample the best of the Colorado brewing scene, this tour is for you!

On this small-group tour, you will learn the history of brewing in the historic mountain town of mining town at the base of the Rocky Mountains, where you will visit the top local brewpubs. This experience is about good company, fantastic views, and visiting one of the most beautiful places in Colorado.

 Click here to book a beer tour with the mountain views

What’s included:

  • First beer on your guide at each stop! 
  • Any drinks after that will be paid for by the guest
  • A fun local guide showing you their favorite spots
  • Beautiful scenery at breweries and several stops 
  • Alcoholic Beverages Water refill – please bring reusable bottles
The 16th Street Mall is One of The best Places to Visit in Denver

10. Downtown Denver History & Highlights – Small-Group Walking Tour

Denver is a gateway to the outdoors, but that doesn’t mean that you should skip the Mile High City. The town has plenty to do, and before you head to the mountains, you should learn Denver’s history and enjoy its historic and cultural landmarks. 

On this tour, a guide will show off downtown Denver’s historic architecture and tell your stories of how this pioneer town came to be the capital of Colorado. 

 Click here to see the highlights of Denver

The tour will introduce you to the city’s most iconic landmarks including the Capitol State Building and Union Station, as you’ll get a chance to see preservation and revitalization side-by-side at historic Larimer Square. Your guide will also tell you about the best places to eat, drink, shop, and play in and around Denver, so if you are new to the city, don’t miss out on this experience. 

What’s included: 

  • English-speaking guide

11. Rocky Mountain National Park in Summer Tour from Denver

If you are visiting Denver in the summer, don’t miss a chance to visit Rocky Mountain National Park on a full-day trip from the Mile High City! 

On this tour, you will picnic among a summer landscape of thick green trees and wildflower meadows, and drive above the tree line while enjoying the stunning mountain views. 

 Click here to book a summer tour of Rocky Mountain National Park

Stroll around and look for Colorado wildlife inside the park, and enjoy a dose of mountain culture in the nearby Estes Park, the gateway to the Rockies. While in Estes Park, you will also stop at the historic Stanley Hotel, which inspired ‘The Shining,’ time permitting. Many people come to Estes Park because of Stanley Hotel, as it’s said to be haunted, so you will get a good taste of it on your quick stop. 

What’s included: 

  • National Park fees
  • Snacks and water bottle refills
  • Picnic Lunch in the park
  • Local Driver/Guide
  • Live commentary on board
Breckenridge is one of the best tours from Denver

12. Red Rocks Park, Continental Divide & Breckenridge

This small group tour takes you to the scenic Red Rocks Amphitheatre, before continuing toward the Continental Divide, and the ski resort town of Breckenridge, all in one day. 

The adventure starts in the morning and like many Denver tours, takes most of your day. In Breckenridge, you will have some free time to wander, shop, and eat lunch (at your own expense). A small-group tour makes for a personalized, flexible way to travel and see the best places in Colorado. If you want to see the most scenic vistas along the Front Range, book this experience! 

 Click here to book a summer tour of Rocky Mountain National Park

What’s included: 

  • Admission
  • Bottled water

13. Mile High Ghosts of Denver Walking Tour

Did you know that Denver has a few haunted areas?

But unless you know where to look for ghosts, you probably won’t find them. This walking tour is a perfect way to experience the spooky side of the Mile High City. 

You get to venture into one of Denver’s oldest neighborhoods – and hear many of the city’s spookiest ghost stories as you visit its s haunted landmarks. 

 Click here to book Mile High Ghosts of Denver Walking Tour

If you want to upgrade for an extended experience, you’ll also explore the historical Capitol Hill neighborhood. Here you can see highlights like Titanic survivor Molly Brown’s house, creepy old hotels, and old apartment blocks. This small-group tour is capped at 15 people for a personal – yet spooky feel. Few tourists get to see this side of Denver, so it’s a perfect experience if you are craving something different. 

What’s included

  • A local guide on all things spooky in Denver
  • Intensely researched true stories of history
  • Documented accounts of hauntings and paranormal activity
Top things to do in Denver

14. RiNo Arts District Food Tour

Nicknamed RiNo, The River North Art District is the hip part of Denver that has bars, restaurants, and cool murals.

Exploring RiNo on foot is one of the best things to do in Denver if you love a combination of street art and good food. This area which used to be home to a warehouse district has been gentrified in the last decade. Now it’s one of the most popular places in Denver with many restaurants, bars, and cafes.

So instead of wasting hours trying to find where to have lunch in Denver, dive straight in and visit a curated selection of Denver eateries on this afternoon food and beer tour.

 Click here to book RiNo Arts District Food Tour

During this curated experience, you will get to sample a wide range of Denver dishes, from tacos and pizzas to nationally-recognized sweet treats, most of them paired with beers that showcase the delicious diversity of the local craft brewery scene. 

Come hungry. You will enjoy enough food for a hearty lunch as you start and end your tour in the Denver Central Market, a gourmet food hall. Vegetarian options are available with advance notice.

What’s included:

  • 5 food tastings (substantial lunch)
  • Delicious Denver Food Tours Insider’s Guide to Denver Dining Guide
  • Exclusive discounts to other tours and food experiences
  • A local guide

15. Bicycle Tour of Downtown Denver

Denver is an active city, and many locals spend their free time enjoying hiking, mountain biking, or some other physical activities. If you want to join the ranks, this awesome tour will take you through the most vibrant neighborhoods surrounding downtown Denver. 

 Click here to book bicycle tour of Downtown Denver

Admire the architecture as you ride down city streets, riverside paths, and quiet side streets. All equipment, including 3-speed cruisers with disc brakes, is included. It’s an excellent way to learn about Denver while soaking up the sun and getting exercise. 

What’s included:

  • Use of bicycle
  • Use of helmet
  • Private tour
  • Bottled water

16. RiNo Beer and Graffiti Walking Tour

If you like a combination of colorful art and craft beer, join a guided graffiti walking tour of RINO, where you can learn how the former warehouse district became one of the most trendy spots in the Mile High City.

As you make your way through the area you will also stop at a few local breweries and cider houses hand-picked by your tour guide for the best experience. This tour offers a fun and social atmosphere and is an introduction to the city’s funky art scene. 

 Click here to book bicycle tour of Downtown Denver

What’s included:

  • Alcoholic Beverages
  • Souvenir sample glass
  • A guided 1-mile stroll through Denver’s RiNo Art District
  • Stories behind the street art and murals prevalent in RiNo

17. Private Colorado Springs Tour: Garden of the Gods and Pikes Peak

Group tours are great, but they might not be everyone’s cup of tea.

If you are one of these people, book a private tour of Colorado Springs from Denver that includes stops at Garden of the Gods and Pikes Peak.

The tour begins in Denver, and when you get to Colorado Springs, your guide will give you an overview of the area tailored to your interests as you visit the city highlights including Pike’s Peak, the Manitou Incline, the Garden of the Gods, and the Air Force Academy. 

 Click here to book bicycle tour of Downtown Denver

What’s included:

  • Pick-up and drop-off at your Denver Hotel. 
  • A slight surcharge is over 7 miles from the lower downtown (LoDo). 
  • Transportation to the destinations 
  • Snacks and bottled water
Breckenridge is one of the best road trips from Denver

18. Breckenridge Mountain Explorer

Breckenridge is one of the best mountain towns in Colorado under two hours from Denver.

Getting here requires a car, but if you don’t have one, you can book a guided trip from Denver. The trip lasts an average of 8 hours and provides a glimpse into one of Colorado’s most popular destinations. 

PRO TIP: Many Denverites come to Breckenridge on weekends, and it can get busy. If possible, plan your adventure for weekdays. 

 Click here to visit Breckenridge on a day trip from Denver

After a visit to Red Rocks Amphitheater and a coffee break in a mining town, you will enjoy three hours of free time in Breckenridge where you can shop, hike, or ride the gondola. During the tour, you will also enjoy the views of the continental divide at 11’990 feet and enjoy a free Gondola ride (winter only). It’s a popular small-group tour that offers a brief introduction to Colorado’s outdoor Mecca. 

What’s included:

  • Local guide
  • Self-guided hikes directly from Main Street
  • Water refill – please bring reusable bottles
Top things to do in Denver

19. Denver Graffiti Tour 

Hear the Denver stories that don’t get included in the guidebooks! 

On this roughly two-hour walking tour of the city’s prominent graffiti and street art, you will discover the city’s cultural underground hiding in plain sight. Learn about the art, the artists, and the neighborhoods that you’re exploring from your guide, including stories about how Denver has changed and how that’s affected the art.

 Click here to book a graffiti tour of Downtown Denver

This tour opens up a new and unsung side of Denver that many travelers don’t get to see! Finish up at Denver Central Market, a gourmet food hall full of delicious lunch options from local producers. 

Private tours and custom times are available on request.

Blue Lakes Colorado

20. Explore the Colorado Rockies with an Adventure Photographer

You like a good adventure but might not have a photographer who will capture the special moment. If it sounds like you, this is your tour! 

If you want photos you’ll be proud to show off that aren’t selfies or taken by random strangers, you come on a hike with an adventure photographer! 

 Click here to book the Rockies tours

This adventure tour includes custom-arranged hikes tailored to your needs and fitness level. The tour company takes good care of all the big things like planning, transportation to and from the hike, hiking gear, and park fees, so you could have the most fun!

All you have to do is bring your beautiful self, a good mood, and a positive attitude. The day starts one or two hours before sunrise so you can get to the trailhead early to beat everyone else and catch one of those Colorado sunsets.

If that’s too early, no problem! You can discuss everything with your guide and plan the day according to your schedule. 

What’s included:

  • Air-conditioned vehicle
  • Snacks and water
  • Professional photographs of the day
Independence Pass, Colorado

Denver tours: Final word 

That’s it! I hope my guide gave you enough information to choose the best Denver tours. Whether you choose to head outdoors or spend time exploring the Mile High City, remember to bring a positive attitude and make a lot of great memories!

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