6 Best Yosemite National Park Tours from San Francisco for Epic Views
Looking for an amazing Yosemite National Park Tours from San Francisco?
As one of the most iconic national parks in the US, Yosemite makes you feel small with its towering granite walls, ancient sequoias, waterfalls that seem to fall from the sky.
I first visited during my van life years, chasing the freedom of the open road and a chance to finally see Half Dome with my own eyes. What I didn’t realize is just how tricky timing a visit can be. The snow-free season is short, campsites fill fast, and each year brings the hope that wildfire smoke or closures won’t derail the journey.
Just want to pick the best? This is my top choice. Reserve this small group trip with a perfect 5-star rating that goes to all the park highlights!
For those not ready to navigate that puzzle solo, these six Yosemite National Park tours from San Francisco offer a much easier—and still epic—way in.
My Top 3 Picks: Yosemite Tours from San Francisco
⭐️⭐️⭐️⭐️⭐️
Small Group Yosemite and Giant Sequoias Day Trip
✔️ Efficient itinerary to major landmarks
✔️ Small group size
Yosemite National Park & Sequoias Private Tour
✔️ Fully customizable itinerary
✔️ Private transportation
Yosemite National Park 2-Day Tour with Lodging
✔️ Extended exploration
✔️ Overnight accommodations included
1. Small Group Yosemite and Giant Sequoias Day Trip from San Francisco
Best Overall Day Trip
⭐️ RATING: 5/5 Stars | ⏳ LENGTH: 14 Hours | 😍 Book it!
Maximize your time by choosing this efficient Yosemite day trip from San Francisco. Designed for travelers who want to see the park’s highlights without the hassle of planning, this tour covers major landmarks and includes hotel pickup and drop-off.
The itinerary begins with a walk among the giant sequoias at Tuolumne Grove, where trees can reach up to 40 feet in diameter. Next, enjoy a photo stop at Tunnel View for panoramic sights of Bridalveil Fall, El Capitan, and Half Dome. The excursion continues with visits to Yosemite Falls and El Capitan, where you might spot climbers scaling its granite face. There’s also free time in Yosemite Valley to explore or grab lunch.
It was amazing trip! Our guide Alberto was great. Long day but we had several stops for stretching our legs. Absolutely worth it!
– hana (Read more reviews)
The small-group is limited to 15 people. It includes park entrance fees, transportation by minibus, and hotel pickup and drop-off within SF.
2. Yosemite Day Tour with Optional Alcatraz
⭐️ RATING: 5/5 Stars | ⏳ LENGTH: 14 Hours | 😍 Book it!
Tackle two major California landmarks in one go with this Yosemite National Park day trip, which also offers the option to add Alcatraz Island.
The journey kicks off with a drive through the Central Valley, before heading into the Sierra Nevada foothills. Upon arrival at Yosemite, the guided trip covers key sights such as El Capitan, Half Dome, and Bridalveil Fall. There’s also a stop at Inspiration Point for panoramic views of the valley.
After the guided portion, travelers have 3-4 hours of free time to explore the valley on your own. Options include walking to the base of Yosemite Falls, visiting the Ansel Adams Gallery, or checking out the Ahwahnee Hotel.
For those opting to add Alcatraz, a ferry ride to the island and an audio-guided tour of the historic prison are included. Note that with this addition, Alcatraz will be tacked on the next day at 12pm.
A splendid excursion. The road very nice and a very nice and funny guide. Fantastic landscapes, like in the movies. The American dream! I highly recommend ☺️
(Read more reviews)
This package includes park entrance fees, transportation in a mini-coach, and the services of a professional guide. Cons are that it’s not a small group trip.
3. Yosemite National Park & Sequoias Private Tour from San Francisco
Best Private Day Trip
⭐️ RATING: 5/5 Stars | ⏳ LENGTH: 14-15 Hours | 😍 Book it!
Secure this fully personalized Yosemite experience to avoid the crowds and rigid schedules of larger groups. This trip is tailored for up to five people.
The itinerary includes a visit to the Mariposa Grove of Giant Sequoias, where you can walk among some of the largest trees on Earth. Next, head to Glacier Point for sweeping views of Yosemite Valley, Half Dome, and Yosemite Falls. Additional stops feature Tunnel View, Bridalveil Falls, and Valley View.
Wonderful bespoke experience, visited all the best locations in Yosemite and the Mariposa grove of Giant Sequoia trees. Certainly a long day out but pack some extra snacks and your walking boots and you’ll have a blast.
– stuart (Read more reviews)
This package covers entrance fees, bottled water, and soft drinks. Hotel pickup and drop-off in San Francisco are included. This is limited to a private group of up to five people.
4. Yosemite National Park 2-Day Tour from San Francisco with Lodging
Most Popular Multi-Day Trip
⭐️ RATING: 4.5/5 Stars | ⏳ LENGTH: 2 Days | 😍 Book it!
Extend your Yosemite visit with this 2-day tour, designed for those seeking a deeper experience without the hassle of planning. Travel comfortably in a mini-coach, so you to focus on the scenery while someone else handles the driving.
The itinerary includes a walk among the giant sequoias at Tuolumne Grove, a photo stop at Tunnel View, and visits other must-see stops. You’ll also have free time to explore the valley, with options to hike, swim, or bike around the base of Yosemite Falls.
Accommodation options include staying inside the park at Yosemite Valley Lodge or Curry Village, or just outside at Yosemite View Lodge along the Merced River.
Stunning sceneries. Trip itineraries were well arranged in a nice pace with flexibility. My first trip on viator and it didn’t disappoint.
– joyce (Read more reviews)
The tour includes park entrance fees, transportation, and hotel pickup and drop-off within San Francisco. You can go with up to 4 people in your group.
5. Yosemite 3-Day Camping Adventure from San Francisco
⭐️ RATING: 4.5/5 Stars | ⏳ LENGTH: 3 Days | 😍 Book it!
Escape the city and join into this hands-on Yosemite camping trip that packs in iconic sights, outdoor activities, and community vibes. This Yosemite 3-day tour from San Francisco is great for those who want to explore the park beyond the usual tourist spots.
The tour kicks off with a visit to Tuolumne Grove, where you’ll walk among towering sequoias. From there, it’s on to Yosemite Valley for those classic views. You’ll also stop by the Ansel Adams Gallery and Yosemite Village.
Day two focuses on Yosemite’s high country, with hikes around alpine lakes and optional climbs like Mount Hoffmann. The final day offers free time to explore the more of the valley.
I had an amazing time in the mountains, taking in the beautiful landscape. Our guide, Colleen Roberts, was incredibly helpful and knowledgeable about nature and made the trip even more amazing. Thank you so much!
– sarnai (Read more reviews)
This package includes round-trip transportation, park entrance fees, camping gear (excluding sleeping bags), and meals—two breakfasts, two lunches, and one dinner. Group size is capped at 13 people.
6. The Ultimate Yosemite 5 Days’ Vacation Package
⭐️ RATING: 5/5 Stars | ⏳ LENGTH: 5 Days | 😍 Book it!
Opt for this 5-day private Yosemite tour to experience the park on your terms. With a dedicated driver handling all transportation, you can focus on exploring every corner of the park.
The itinerary is fully customizable. Whether you want to hike to Vernal Falls, relax by Mirror Lake, or take in views of some of the hardest mountains to climb the country, each day is tailored to your interests. This flexibility allows for spontaneous decisions, letting you adjust plans as you go.
This tour is completely flexible and is set to what you want to do. I wanted to do walking and so did a lot. This allowed me to see many waterfalls which are not always seen unless walk and great views. The days were full.
– mark (Read more reviews)
Included in the package are four nights of hotel accommodations, park entrance fees, and private transportation in an air-conditioned vehicle. Bottled water is provided throughout the trip.
Yosemite Travel Guide and FAQ
Is a day trip from San Francisco to Yosemite worth it?
Yes, a day trip is feasible but definitely rushed and very long. While the round-trip drive takes about 7–8 hours, many travelers find the experience worthwhile. Organized tours can help maximize your time by handling logistics.
What is the cheapest way to visit Yosemite from San Francisco?
Technically the most budget-friendly option is using public transportation, but if you actually want to see anything, you really need to rent a car.
When Not to Go to Yosemite?
The peak summer months, especially July and August, are both hot and crowded, but the roads will be closed in deep winter. Additionally, holiday weekends like Memorial Day and Labor Day can be particularly congested. The best time to visit is early summer or fall after wildfire season.
How Far is SF to Yosemite?
The distance from San Francisco to Yosemite National Park is approximately 170 miles, translating to a 3.5 to 4-hour drive.
Final Thoughts
Booking a Yosemite tour from San Francisco is one of the best ways to experience the park’s highlights without the stress of planning or driving. With early departures and expert guides, you can make the most of your time, seeing iconic spots in a single, well-organized day.
If you want to skip the parking headaches and maximize your time, a guided trip is the way to go. But if you’re set on exploring independently, check out my one day in Yosemite guide for a self-planned itinerary.
In case you’re still not sure which to pick:
- Go on an extended exploration; book this 2 day Yosemite tour from San Francisco
- See Yosemite’s highlights on this highly small group comprehensive one-day experience.
- Focus on a personalized adventure; sign up for the private tour to customize your itinerary.
Catherine, a seasoned travel writer, has lived in 4 different states and explored 36 states and 28 national parks. After spending two years embracing van life, she's now dedicated to sharing her vast knowledge of day trips across America. Catherine's other works has been referenced in major publications like MSN, Self, and TripSavvy.
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