Yosemite is a gorgeous outdoor destination in Central California that will inspire you with its granite cliffs, majestic waterfalls, and abundant wildlife. I have been to Yosemite many times over the years and it still leaves me in awe every time!
If it’s your first time visiting the San Francisco area, going on one of the Yosemite tours from San Francisco is a great way to become acquainted with its most visited attractions without needing to rent a car.
My top pick for a Yosemite tour: Small Group Yosemite and Giant Sequoias Day Trip From San Francisco (that has almost 2000 five-star reviews!)
Whether you choose a day trip or an itinerary that spans 2 to 3 days, you’ll find no shortage of tour operators that can make your experience all the more enjoyable and educational.
Offering expert guides, various lodging options, and comfortable transportation, they’ll do the heavy lifting, leaving you free to enjoy the natural scenery worry-free.
Here are 10 of the best Yosemite Park tours from San Francisco for a memorable trip of a lifetime!
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Best Yosemite National Park Tours From San Francisco:
1. Small Group Yosemite And Giant Sequoias Day Trip From San Francisco
| Pros | Cons |
| ✔️ Almost 2000 5-star reviews! ✔️ Includes hotel pick-up and drop-off (from select San Francisco hotels) ✔️ Small group tour for a more personalized experience | ❌ Does not include food and drinks ❌ Requires moderate physical fitness |
You’ll start your Small Group Yosemite and Giant Sequoias Day Trip in a minibus with knowledgeable guides and end it with a newfound appreciation of the Yosemite Valley.
After enjoying a snack at San Joaquin Valley, you’ll head to hike at Tuolumne Grove, the home of a few dozen mature Sequoias which are the largest trees in the world.
Guides will also take you through the iconic Tunnel View for expansive views of El Capitan, Half Dome, and Bridalveil Fall—a 620-foot waterfall with a misty appearance.
You also get free time to explore the heart of Yosemite Valley on your terms. Be sure to stop by Yosemite Village — the small visitor center that serves as a gateway to some of the coolest landmarks in the park!
2. Yosemite National Park And Giant Sequoias Day Trip From San Francisco
| Pros | Cons |
| ✔️ Expert commentary ✔️ Pick-up is available from select San Francisco locations | ❌ Very long day tour ❌ The hikes can be strenuous for some |
This Yosemite National Park and Giant Sequoias Day Trip is offered in English and 9 other languages to accommodate international travelers.
Take this breathtaking tour that passes by historic towns and you’ll find yourself transported to Gold Rush times! The tour stops for breakfast at around 8:30 a.m. so you’ll be nourished for the day.
During your journey, find delight in the rugged beauty of the snow-covered Sierra Nevada Mountains. Get up close with the scenes of Yosemite through the lens of photographer Ansel Adams. Feel the grandeur of giant sequoias by going on a hike at Tuolumne Grove.
During the tour, you’ll get a chance to capture incredible views of the Tunnel View, Valley View, Bridalveil Fall, and Merced River. You’ll also get plenty of time to enjoy roaming around the Yosemite Valley on your own.
3. Yosemite National Park Full Day Tour From San Francisco
| Pros | Cons |
| ✔️ Comfortable travel in an air-conditioned motor coach ✔️ Stroller accessible ✔️ Service animals are allowed | ❌ Hotel pick-up and drop-off aren’t included ❌ Not wheelchair accessible |
This Yosemite National Park Full Day Tour has a little bit of everything! It starts by passing through the San Francisco Financial District, the San Francisco Bay Bridge, and Oakdale (the ‘cowboy capital of the world’).
The motor coach will take you through the National Park next, with views of the giant Sequoias, majestic Bridalveil Falls, and stunning granite cliffs of El Capitan and Half Dome.
Once you’ve had your fill of the park from the famous Tunnel View overlook, the bus will drop you off at the heart of the Yosemite Valley where the real fun begins.
You can explore the park on your own terms, go hiking, grab a bike rental, or check out souvenirs at the Yosemite Valley Welcome Center. Satiate the art lover in you by admiring black-and-white images by celebrated artist Ansel Adams at the park’s Ansel Adams Gallery.
4. Small-Group Yosemite Day Tour From San Francisco
| Pros | Cons |
| ✔️ Pick-up and drop-off for select San Francisco hotels ✔️ Full-time professional guide | ❌ Not wheelchair accessible ❌ Does not include meals |
This Small-Group Yosemite Day Tour by Incredible Adventure shows that Yosemite National Park is unlike any other! This tour to Yosemite National Park travels in a luxury van with an expert tour guide.
The tour will take you through the Central Valley and its farms that produce 50% of the country’s fruits, vegetables, and nuts. You’ll also pass by the Gold Rush towns and cover a large portion of the Sierra Nevada foothills.
Once you arrive at the park, you’ll be delighted by its natural wonders, including towering waterfalls, 3,000-year-old sequoias, stunning granite cliffs, and biological diversity that features more than 400 species.
During the tour’s free time, you can explore Yosemite Valley on foot or by bike to cover more ground.
5. 2-Day Yosemite National Park Tour From San Francisco
| Pros | Cons |
| ✔️ SF hotel pick-up and drop-off ✔️ Your choice of overnight hotel accommodation | ❌ Expensive |
This Overnight Yosemite Tour From San Francisco is a once-in-a-lifetime overnight adventure! This multi-day itinerary includes a mix of guided activities and free time to make the most of your visit to Yosemite.
Hike among Giant Sequoias and check out panoramic views of the surrounding landscapes at Glacier Point. Enjoy the mesmerizing views of the cliffs at El Capitan and Half Dome. Hike or bike around Yosemite Valley to get up close views of the famous landmarks.
Since your activities will take place over 2 days, you’ll have more time to savor the experience without feeling rushed. Plus, you’ll get to spend the night in the heart of the Valley, surrounded by pristine nature.
If you choose to stay at the conveniently located Cedar Lodge, you’ll get access to an onsite pub and indoor & outdoor pools where you can relax at the end of the day.
6. 3-Day Yosemite Camping Adventure From San Francisco
| Pros | Cons |
| ✔️ Camping equipment with all amenities is provided ✔️ Comfortable travel in a 15-passenger van with dual air-conditioning | ❌ You’ll need to bring your own sleeping bag or rent one for $20 ❌ Does not include hotel pickup |
What’s better than a 2-day trip to Yosemite Park? Why, a 3-Day Yosemite Camping Adventure of course! This weekend getaway is a guided camping trip, making it an excellent option even for those with little experience in the great outdoors.
You’ll start the tour in San Francisco and be transported via an eco-friendly van which will take you through spectacular sights like Alcatraz Island, Angel Island, the Sierra Nevada Mountains, and more.
When you reach the park, you’ll gain a deeper appreciation of your surroundings with your guide’s expert commentary. You can also go for a hike and marvel at the giant sequoia trees at Tuolumne Grove.
Other must-see landmarks include the Yosemite Village, Ansel Adams Gallery, and Yosemite Falls – the tallest waterfall in North America. Pass through the serene meadows and refreshing waters of Yosemite’s lakes with your guide or enjoy a bike ride around the Yosemite Valley floor.
7. Private Yosemite, Sequoias, And Glacier Point Tour From San Francisco
| Pros | Cons |
| ✔️ Door-to-door pick up and drop off ✔️ Small group tour | ❌ Not wheelchair accessible ❌ Expensive |
This Private Yosemite, Sequoias, and Glacier Point Tour is an epic adventure that limits participants to 5 people per group to ensure detailed attention. Transport is via a luxurious SUV or minivan for the ultimate comfort.
It will take you through 18 stops, including the San Francisco Bay Bridge, the Gold Rush City Mariposa, Groveland in the rugged hills of Tuolumne, and California State Route 140 which ends in Yosemite National Park.
The trip will allow you to check out the Grove of Giant Sequoias, stunning views at Glacier Point and Tunnel View, the Swinging Bridge Picnic Area, and breathtaking scenery at Valley View. Plus, there’s a quick stop at the Yosemite Village Store so you can stock up on essentials and buy souvenirs.
If you can spare the expense, this trip is sure to be the highlight of your travels as it lets you discover the wonders of the park without the large crowds.
8. San Francisco To Yosemite One-Way Transfer
| Pros | Cons |
| ✔️ Offered in English and 8 other languages ✔️ Pick-up from select San Francisco hotels ✔️ Service animals are allowed | ❌ Not wheelchair accessible ❌ Does not include a return to SF |
The San Francisco to Yosemite One-Way Transfer offers pick-ups from select hotels in downtown San Francisco and the Fisherman’s Wharf area, making it a convenient way to reach Yosemite from San Francisco.
An expert guide and commentary are available throughout the transfer. You’ll journey from the Bay Bridge where you get to pass through the Treasure Island neighborhood, the Sierra Nevada Mountains, historic Big Oak Flat Road, and end the trip in Yosemite Valley.
You’ll also get to visit the giant sequoias at Tuolumne Grove where you can go on a hike along the short Tuolumne Grove Trail.
9. From San Francisco: Yosemite Private Full-Day Trip
| Pros | Cons |
| ✔️ Travel by a private car ✔️ Hotel pickup included ✔️ Private tour | ❌ Park admission fees are not included ❌ Expensive |
The Yosemite Private Full-Day Trip is a private 13-hour tour that prioritizes flexibility. As soon as you’re picked up from your accommodation in San Francisco, you’ll have access to a tour guide who will make the experience a memorable one!
Since you’ll be traveling by private car, you’ll get to explore the famous Yosemite National Park without sacrificing any comfort. The scenic drive will take you through all the most popular landmarks like Yosemite Valley and Yosemite Falls, Half Dome, Glacier Point, and stunning groves of the ancient giant sequoia trees.
This tour ends back in San Francisco with a sense of magic by witnessing the Bay Bridge Lights Installation. Each night, the San Francisco Bay Bridge displays an awe-inspiring array of lights. The show uses 25,000 LED lights that are installed over the bridge’s 1.8-mile length.
10. From San Francisco: Yosemite & Tahoe Sierras 4-Day Trip
| Pros | Cons |
| ✔️ Only 13 participants per group ✔️ You can choose between camping and hotels | ❌ You’ll need to bring your own sleeping bags or rent them for $20 extra ❌ Not all meals are included |
The Yosemite & Tahoe Sierras 4-Day Trip is a great way to fully enjoy multiple mountain destinations in California!
For starters, the longer itinerary gives you more than enough time to go at your own pace and explore each stop on your trip. Plus, this Yosemite tour from San Francisco only caters to small groups so you get more personalized attention from your guide and a more engaging experience.
This Sierra Mountain adventure is perfect for discovering the best spots in the area. From the majestic views of Yosemite Valley and Devil’s Postpile National Monument to the landscapes of Ansel Adams Wilderness, and the Bodie Ghost Town, you’ll have your fill of tourist attractions.
Witness the grandeur of some of the tallest waterfalls, dip your toes at the banks of the Merced River, give mountain biking a try, and don’t forget to get pictures of the towering granite cliffs.
And if you’re an avid outdoor enthusiast, staying the night at campsites will surely give you an experience you’ll love remembering for the rest of your life!
We hope this list of tours from San Francisco to Yosemite has given you a head start on your trip planning!
Looking for more California travel inspiration? Here are a few other popular posts you may like:
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- Yosemite Winter Packing List (By a Local)
- Guide To Visiting Yosemite National Park In Fall
- 20 Best Places Where To See Fall Colors In Yosemite
- 7 Incredible Day Hikes In Mammoth Lakes
This post is written by Laura Sausina. Hi, I’m a California local and the founder of the California Wanderland travel blog. I currently live in Ventura County and help 30,000 readers a month discover things to do in Central California! Read more about me here.
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