Cabo San Lucas is one of those places that completely won me over. I’ll never forget the first time I saw its dramatic coastlines—the way the desert meets the sparkling blue sea is just stunning. Between its laid-back vibe and endless adventures, it’s no wonder people from all over the world flock here.
When I visited, I packed in as much as I could: kayaking around some of the best beaches, joining a local cooking class, and even spotting whales off the coast. Cabo truly has a little bit of everything, whether you’re craving adventure or just want to soak up the scenery with a margarita in hand.
If you’re feeling overwhelmed by the endless options, don’t worry. I’ve put together a curated selection of the best Cabo San Lucas excursions and tours available to help you make the most of your time in Cabo. The activities have been carefully chosen to give you a taste of everything Cabo has to offer.
From heart-pounding adventures to laid-back experiences, these picks will give you a true taste of everything this stunning destination has to offer.
➥ Why trust my recommendations? Over the last 10 years, I’ve explored countless destinations and written guides to help travelers like you find the best experiences. Mexico is one of my favorite countries—I’ve spent a total of six months exploring it, including several trips to Cabo. Those visits gave me the chance to try a variety of tours and activities, and I’ve handpicked the very best ones for this guide.
I generally use Viator to book tours around the world. I especially recommend the platform for its great cancellation policy. If your travel plans change, you can cancel most activities up to 24 hours in advance and get a full refund.
In a rush? These are the best tours:
| THE MOST COMPREHENSIVE TOUR | Cabo San Lucas and San Jose del Cabo Sightseeing Tour |
| SNORKELING TRIP | Snorkeling Tour to Chileno Bay and Santa Maria Cove |
| TEQUILA TASTING | Tequila Tasting in Cabo San Lucas |
| FOOD TOUR | Food and Tacos Tasting Experience |
| CABO PULMO DAY TRIP | Private Jeep Tour Cabo Pulmo |
OUR PICK: Cabo Introductory Tour – See it All in One Day
For a cultural experience, choose this Cabo San Lucas and San Jose del Cabo Sightseeing Tour. Start the day exploring Cabo San Lucas, where you’ll check out historical attractions with a professional guide.
Learn about the town and its landmarks before sailing on a glass-bottom boat to El Arco. Keep your camera handy to snap pictures of Pelican Rock and the colorful marine wildlife as you paddle around them!
Then it’s time to wander around San Jose del Cabo, soaking in its colonial charm. Enjoy free time to shop for souvenirs, and visit the lagoon estuary, an old Jesuit Mission, and the city center.
➥ Why is this the top tour? This excursion offers the perfect glimpse into Los Cabos, introducing you to its two towns and major attractions in a single trip. It’s perfect for first-time visitors, but also for those with limited time who still want to see it all.
Read what the reviews say:
“Great tour! It covered highlights of San Jose del Cabo and Cabo San Lucas. The stops at the shops were convenient and provided time to buy items without another trip to town. The true highlight of the tour was our guide, Charlie. He was professional, kind, and caring. He shared his in-depth knowledge of the area and truly cared about our comfort throughout the day. This tour and tour guide are most highly recommended!”
Claude_H – Read more reviews
This tour includes: Hotel pick-up and drop-off, a guide, a boat trip, and bottled water. ➥ BOOK IT HERE
Cabo San Lucas Excursions by Boat or Yacht
Boat tours in Cabo San Lucas are an incredible way to soak up the stunning coastline, and I’ve personally had an amazing time on a sunset cruise in Cabo.
Whether you’re cruising past the famous Arch, spotting marine life, or simply relaxing on the water, there’s nothing quite like exploring Cabo from a boat. If you’re looking for something extra special, I’ve also written a full post about boat and yacht rentals in Cabo.
▶️ Hop aboard a comfortable trimaran and set sail with this Cabo San Lucas Sunset Cruise with Open Bar and Snacks. Relax and soak up the breathtaking views of Lovers’ Beach, the sea lion colony, and the iconic Cabo arch during the golden hour.
As you glide along the coastline, sip on unlimited drinks from the open bar, paired with tasty snacks.
The friendly crew will ensure your comfort, so all you need to do is enjoy. It’s especially popular among couples, as it’s the ultimate romantic tour in Cabo!
This tour includes: A boat cruise, snacks, an open bar, and soft drinks. ➥ BOOK IT HERE
▶️ Take a peek into the underwater world – without getting wet! – by joining this Arch Tour with Amazing Captain in Cabo San Lucas. You’ll sail to the famous landmark on a glass-bottom boat, exploring the natural attractions of the area.
Glide past the sea lion colony, Pirate’s Cave, and Pelican Rock. Go swimming at Lover’s Beach and Medano, and jump in the water at the Arch.
You’ll have time to snorkel around the rock formation, spotting the colorful life that inhabits it.
This tour includes: A 45-minute boat cruise, a tour guide, and life jackets. ➥ BOOK IT HERE
▶️ Cruise in style with Your Own Private Luxury Yacht Experience in Cabo San Lucas. Your group of 4 will board a sleek vessel and make the most of the open bar, sipping on unlimited drinks and munching on snacks.
Sail along the stunning coastline and enjoy snorkeling stops in prime locations, where you’ll jump into the water to swim with tropical fish. Sunbathe on the beach – or on the yacht’s deck with a cocktail in hand – and indulge in a Mexican lunch before returning to the mainland. The itinerary is yours to customize!
This Cabo tour includes: Yacht rental, snorkeling gear, an open bar, snacks, lunch, and National Park fees. ➥ BOOK IT HERE
Whale Watching Tours in Cabo San Lucas
Whale watching in Cabo San Lucas is an unforgettable experience, with humpback and gray whales visiting these waters from December to April. If you’re planning to see these majestic creatures up close, don’t miss my full post about whale watching in Cabo San Lucas, or check my favorite tours down below.
▶️ This Humpback Whale Watching Tour in Cabo San Lucas is a must-have experience. A marine biologist onboard will provide interesting facts about the magnificent humpback whales.
Learn about their lifestyles and migration patterns as you sail past the famous Arch and the Sea Lion colony. During this 2.5-hour tour, you’ll have the chance to see the magnificent humpback whales up close.
You can choose the small-group trip, or upgrade for a private experience, as well as select the departure time that best suits you. I suggest morning tours for a smoother ride, though, especially if you get easily seasick!
This tour includes: A marine biologist guide, a boat ride, marine park fees, and bottled water. ➥ BOOK IT HERE
▶️ Sail away on a Luxury Catamaran Whale Watching Cabo San Lucas to increase your chances of spotting humpback whales. Relax on the top deck and enjoy the stunning views of El Arco and the sea lion colony as you sail past them.
A knowledgeable guide will be able to provide interesting facts as you marvel at the magnificent creatures. Enjoy alcoholic and soft drinks paired with snacks as you sail back.
This tour includes: Hotel pick-up and drop-off, a guide, snacks, and drinks. ➥ BOOK IT HERE
Snorkeling in Cabo San Lucas
▶️ For water adventures, check out Los Cabos Snorkeling Tour to Chileno Bay and Santa Maria Cove. You’ll visit the two prime spots for spying on exquisite coral formations, tropical fish, manta rays, and sea turtles.
A local guide will help you find the best locations, and introduce you to the region’s marine fauna. After your snorkeling sessions, you’ll have time to relax at the beach and refuel with granola bars. The tour ends with comfortable rides back to your hotel.
This tour includes: Hotel pick-up and drop-off, a guide, snorkeling gear, a wetsuit, snacks, and bottled water. ➥ BOOK IT HERE
▶️ Ready to embark on a Los Cabos Luxury Sailing, Snorkel, and Lunch Cruise? Set sail on a stylish vessel, basking in the Mexican sun as you cruise the Sea of Cortez.
Sip delicious cocktails from the open bar, and enjoy snorkeling stops along the way. You’ll be able to spot tropical fish and coral reefs, and go paddleboarding around the boat.
Refuel with a gourmet lunch of fresh ceviche and salad onboard, and cap off the trip with fruit and dessert (and more drinks!) as you sail back to Cabo.
This tour includes: A boat trip, snorkel gear, paddleboards, lunch, and an open bar. ➥ BOOK IT HERE
Kayaking in Cabo San Lucas
Kayaking in Cabo San Lucas is an absolute must, and I can personally vouch for it. I joined the kayaking tour below, and it was easily one of my favorite experiences in Cabo
The Cabo San Lucas Glass Bottom Kayak Tour and Snorkel at Two Bays is a 3-hour excursion that takes place…in the water! You’ll visit Cabo’s hottest bays, Santa Maria and Chileno, and spend some time snorkeling with the colorful marine life and corals.
You’ll paddle between the bays in a beautiful glass-bottom kayak, taking in the striking coastline as you glide on the sea. A dry bag to store your belongings and optional wetsuits are available.
This tour includes: Hotel pick-up and drop-off, a guide, kayak rentals, snorkel gear, and snacks. ➥ BOOK IT HERE
Swim with Sharks in Cabo San Lucas
Looking for a water adventure? Go Snorkeling or Swimming with Sharks in Cabo San Lucas!
Get a glimpse into the lives of the sharks from a marine biologist as you sail toward them, learning how to interact with them safely and responsibly before jumping into the water. If you’re lucky, you’ll have the chance to snorkel with blue, silky, hammerheads, and mako sharks as a professional shark guide monitors the experience.
Refuel with complimentary snacks back on the boat, and enjoy views of the famous Cabo San Lucas arch and the sea lion colony on your way back. Advanced certified scuba divers will have the option of diving at the sites.
This tour includes: National Park Fees, snorkel gear, a shark guide and marine biologist, snacks, and bottled water. ➥ BOOK IT HERE
Ride an ATV in Cabo San Lucas
ATV tours in Cabo San Lucas are an adrenaline-packed way to explore the desert landscapes, and I’ve got a full post about the best ATV tours in Cabo, but the 4×4 ATV Adventure with Tequila Tasting and Mexican Buffet Lunch is my favorite.
Joining a small group of 12 or fewer, you’ll be able to set your own pace as you tackle the river beds, mud paths, and trails. Stop at an ecological farm to tour around its premises and relish a scrumptious Mexican lunch. Once you’ve refueled, take part in a tequila-tasting session.
The trip offers various departures throughout the day, so you can choose the time that best suits you.
This tour includes: ATV and helmet rental, a guide, lunch, and tequila tasting. ➥ BOOK IT HERE
Go Tequila Tasting in Cabo
What would be a trip to Mexico without tequila? If you enjoy this liquor, you’re in luck as there are plenty of options for tasting tequila in Cabo San Lucas. Here it’s my favorite.
Enjoy a distinctive Mexican activity with a private Cabo San Lucas Tequila Tasting Experience. Discover the delicious flavors of six handmade tequila varieties and three types of mezcal.
The drinks will be paired with dark chocolate, agave heart, and even grasshoppers! The tasting takes place in a picturesque tasting room in the center of Cabo San Lucas.
This tour includes: Tequila and mezcal tastings, and snacks. ➥ BOOK IT HERE
Ziplining in Cabo
Embark on an adrenaline-fueled day with this Outdoor Ziplining and UTV Adventure from Los Cabos. Zip-line over dramatic desert canyons and the lush canopy before getting ready to drive a powerful UTV through ecological habitats.
Make sure to soak in the breathtaking scenery of Boca de Sierra National Park during the activities! The trip offers experienced guides and top-of-the-line equipment to keep you safe.
This tour includes: Hotel pick-up and drop-off, gear for all activities, snacks, and bottled water. ➥ BOOK IT HERE
➤ If you’re a zipline fan like me, check out this post about ziplining in Cabo as well.
Horseback Riding Tour in Cabo San Lucas
The rugged and wild landscape of Los Cabos makes it a perfect destination for horseback riding, so get ready for an amazing Horseback Riding Tour in Cabo San Lucas. You’ll visit a Baja Californian ranch and pick a horse that matches your skills. Together you’ll trot along stunning beaches, desert landscapes, and breathtaking ocean-side cliffs.
The tour’s small-group policy ensures you get personalized attention at all times. Stop intermittently to take awesome photos of the journey, and munch on snacks to keep your energy levels high.
This tour includes: Hotel pick-up and drop-off, a guide, a horseback ride, and snacks. ➥ BOOK IT HERE
Take a Cooking Class in Cabo San Lucas
Spice up your vacation with a half-day Cabo San Lucas Mexican Cooking Experience with Market Tour. The day starts with a visit to a local market, where your guide will introduce you to the ingredients needed for your feast.
Then, team up with a skilled chef to whip up a delicious lunch. Learn new techniques and cooking methods as you prepare authentic Mexican recipes.
The menu options change daily, but they include classics such as tacos, antojitos, corn tortillas, and tamales (plus Margaritas to sip on!) The best part? You get to indulge in your culinary creations at the end of the class.
This tour includes: All ingredients, the cooking class, a market visit, lunch, and drinks. ➥ BOOK IT HERE
Join a Food Tour in Cabo
Hungry for Mexican food? Check out this 3-hour Cabo San Lucas Downtown Food and Tacos Tasting Experience, and stuff yourself with the most explosive flavors of Cabo.
A foodie guide will introduce you to the gastronomic delights of the region, taking you to local hotspots and traditional eateries. You’ll walk around the vibrant downtown district, and sample classic favorites like tacos al pastor, churros, and quesadillas.
You can also opt for a visit to a tequila gallery and a tortilla factory, enhancing the experience.
This tour includes: A guide, food, tequila tastings, and bottled water. ➥ BOOK IT HERE
Day Tours to Cabo Pulmo or La Paz
If you’re up for an adventure beyond Cabo San Lucas, a day trip to Cabo Pulmo or La Paz is a must.
Cabo Pulmo, a stunning marine reserve, is a paradise for snorkeling and diving, with vibrant coral reefs and an incredible variety of marine life.
Meanwhile, La Paz offers a laid-back vibe, beautiful beaches, and the chance to swim with sea lions at nearby Espiritu Santo Island. Both spots showcase the natural beauty of Baja California and are well worth the journey for a change of scenery and unforgettable experiences.
▶️ I’ve written a post about the best day tours to Cabo Pulmo, but I strongly recommend this one that I personally went one. This Private Jeep Tour Cabo Pulmo starts with a scenic drive to the National Park. There you’ll go on an off-road journey to take in the unspoilt, magnificent landscapes of the region.
You’ll then head to the beach for a spectacular snorkeling session. Cabo Pulmo is renowned for its thriving marine life – Jacques Cousteau even called it the World’s Aquarium – so it’s guaranteed to fulfill all your underwater expectations.
A snack break and a delicious lunch at a local restaurant will keep you fueled throughout the day.
This tour includes: Hotel pick-up and drop-off, a private guide, snorkel gear, entrance fees, and lunch. ➥ BOOK IT HERE
▶️ Embark on this Todos Santos Day Trip from Cabo San Lucas for a cultural experience. You will discover the vibrant community where thriving artisans and artists showcase their talent, led by an expert local.
Start with a scenic drive along the Pacific Coast, passing by picturesque fishing villages, and stop for a visit at a Mexican blanket factory before reaching Todos Santos.
Once in town, you’ll explore its historic Jesuit mission, art galleries, and boutiques. Make the most of your free time to wander at your leisure, and get to enjoy a tasting of tequila and damiana liqueur. Cap off the trip with a buffet lunch.
This tour includes: Hotel pick-up and drop-off, a guide, all visits, a tequila tasting, and lunch. ➥ BOOK IT HERE
