Westminster Walking Tour and Kensington Palace Visit

5 hours (approximately)
Offered in: English

Experience London’s royal heritage with a tour of 50+ iconic landmarks, ending with a visit to Kensington Palace! Stroll through Westminster, passing Buckingham Palace, Big Ben, and Trafalgar Square, before stepping inside the historic home of Queen Victoria, Princess Diana, and modern royals.

Please note: The Changing of the Guard Ceremony is only for the 9:30 am tour and on select days.

The tour lasts 5 hours (3 hours Westminster Walking Tour & 2 hours at Kensington Palace). The guide will not accompany you inside, but you can explore independently with an excellent audio guide.

What's Included

3-hour Westminster walking tour with an expert guide
Small group experience
Entry ticket to Kensington Palace
Guide inside Kensington Palace (self-guided visit)
Transport between locations (short walk or tube ride if needed)

Meeting and pickup

Meeting point
Shaftesbury Memorial Fountain

Meeting Point: Eros Statue, Piccadilly Circus (SW1Y 4QF), next to Lilywhites Sport Store. Nearest Tube Station: Piccadilly Circus

End point
Parliament Square

Itinerary

Duration: 5 hours (approximately)
  • 1
    Piccadilly Circus

    Experience the dazzling neon lights and lively atmosphere of London's entertainment hub, often compared to Times Square. A perfect photo opportunity amidst the historic Eros statue.

    10 minutes Admission ticket free
  • 2
    Leicester Square

    A bustling square famous for its cinemas, theatres, and entertainment. Walk through the heart of London's film premieres and explore its vibrant cultural scene.

    10 minutes Admission ticket free
  • 3
    Trafalgar Square

    Home to Nelson’s Column and the iconic lions, this grand square celebrates British naval victories and is a hub for national celebrations.

    10 minutes Admission ticket free
  • 4
    Horse Guards Parade at Whitehall

    Witness the historic Horse Guards Parade, where the Household Cavalry stands in full ceremonial dress—a must-see for fans of royal pageantry.

    10 minutes Admission ticket free
  • 5
    10 Downing Street

    Glimpse the home of the Prime Minister at No. 10 Downing Street, a highly secured yet historic street that has shaped Britain’s political landscape.

    5 minutes Admission ticket free
  • 6
    St. James's Park

    Walk through one of London’s most scenic royal parks, home to lakes, gardens, and pelicans—a tranquil escape from the city’s hustle.

    15 minutes Admission ticket free
  • 7
    Pall Mall, London

    Stroll along this grand ceremonial route lined with Union Jacks, leading to Buckingham Palace, used for royal processions and state events.

    10 minutes Admission ticket free
  • 8
    Buckingham Palace

    Marvel at the official residence of the British monarch. If lucky, witness the famous Changing of the Guard ceremony.

    15 minutes Admission ticket free
  • 9
    Birdcage Walk

    Walk this historic route along St. James’s Park, once used to house royal exotic birds, offering stunning views of the Palace and greenery.

    10 minutes Admission ticket free
  • 10
    Parliament Square

    Stand before Big Ben, the Houses of Parliament, and Westminster Abbey—a fitting grand finale showcasing Britain’s most iconic landmarks.

    15 minutes Admission ticket free
  • 11
    Kensington Palace

    Kensington Palace is a historic royal residence in London, known for its elegant gardens, rich history, and as the former home of Queen Victoria and Princess Diana.

    2 hours Admission ticket included

Additional info

  • Infants and small children can ride in a pram or stroller
  • Public transportation options are available nearby
  • Not recommended for travelers with spinal injuries
  • Not recommended for pregnant travelers
  • Not recommended for travelers with poor cardiovascular health
  • Suitable for all physical fitness levels
Supplied by Amazing walks

Tags

Half-day Tours
Cultural Tours
Historical Tours
Walking Tours
New Product
Short term availability

Cancellation Policy

For a full refund, cancel at least 24 hours before the scheduled departure time.

Show more

from per person
Was {{currencySymbol}}{{ summaryFromPriceBeforeDiscount }}