15 Historical Tours in Rio de Janeiro to Build a Day Around

1.Historic Rio and Santa Teresa Half-Day Tour

★★★★★★★★★★4.4 · 228 reviews · 4 hours · from $47Our pick

Spend four hours tracing Rio’s past from XV de Novembro Square and Cinelândia to the Arcos de Lapa, then ride by car into artistic Santa Teresa. Guides including Dario, Monica, Thiago and Millene are praised for clear history, helpful tips and flexible stops. Hotel pickup, multilingual guiding and Parque das Ruínas views are included.

“How lucky to have Ricardo all to ourselves. He took us to all the tourist highlights, gave us time to spend inside each one, whist he drove around the block returning to pick us up, gave us time patiently whist we shopped and gave us great advise on the prices and took us to some secret/off grid sites too.”

Check availability →Read our full review

2.Little Africa Heritage Walking Tour

★★★★★★★★★★4.9 · 177 reviews · 2h 30m · from $40

Spend 150 minutes walking Rio’s port district with an English-speaking guide such as Luana, Nathalia, Larissa, or Eddie. Learn how Little Africa grew after slavery, see Mauá Square from the Rio Art Museum rooftop, visit Pedra do Sal and Valongo, and hear how African culture shaped samba, food, dance, and modern Brazil.

“The tour was an excellent opportunity to learn of a part of the missing history of Brazil. Our guide’s, Marina, is a native Carioca who has lived some of the history through her own family’s experiences. In addition, she is a student of Afro-Brazilian history. It was an excellent and informative tour.”

Check availability →Read our full review

3.Explore Little Africa : Unveiling Afro Heritage in Rio de Janeiro

★★★★★★★★★★5.0 · 97 reviews · 3 hours 30 minutes (approx.) · from $82Top rated

Walk through Rio’s Little Africa with guides such as Carolina, Rafael, and Malu, visiting sites tied to Afro-Brazilian memory, faith, resistance, and culture. The 3.5-hour route includes the Pretos Novos Institute, MUHCAB, Valongo Wharf, Pedra do Sal, and a short VLT ride. Expect serious history, thoughtful storytelling, and considerable walking.

“Emily this was the best tour I have been on across continents and travels in the last 15 years. The knowledge and passion for Rio’s history and the history of black people in Rio was so interesting, inspiring and Marianne’s sharp mind, wit, depth and knowledge shone. My husband was entranced and isn’t normal that keen on history but loved this tour, it brought Rio to life, helped see beyond the obvious and feel connected to a place we have never visited before. I felt safe to ask even the most obvious question and we visited a part of Rio no guide book would have directed us to. Loved it,…”

Check availability →Read our full review

4.Learn the History of Rio with an Unforgettable City Center Walking Tour

★★★★★★★★★★5.0 · 82 reviews · 3 hours (approx.) · from $49

Walk Rio’s historic center with a private guide, starting at the Municipal Theater and ending at Paço Imperial. You’ll see Cinelândia, Selarón Steps, Lapa’s Arcos, the Metropolitan Cathedral, Largo da Carioca, and Confeitaria Colombo. Guides including Rafael and Danielle have led this route, which can be adjusted to your interests.

“Amazing, friendly and very informative walk around the historical center of Rio! 5 / 5 stars! Thank you!”

Check availability →Read our full review

5.Rio’s city walking tour: a glimpse of history and olympic legacy

★★★★★★★★★★4.5 · 78 reviews · 4 hours (approx.) · from $60

Spend about four hours exploring downtown Rio with a local guide, visiting Candelária Church, São Bento Monastery, Mauá Square, Paço Imperial, Confeitaria Colombo, and the Metropolitan Cathedral. Hotel pickup is included from most hotels in São Conrado, Leblon, Ipanema, and Copacabana. Guides such as JB, Melanie, and André tailor the pace when group size allows.

“JB was a great tour guide- very energetic and well- informed. He gave us a good introduction to Rio downtown and we enjoyed walking around that area. Worth- taking”

Check availability →Read our full review

6.Olympic Boulevard, Museum of Tomorrow & Historical Rio

★★★★★★★★★★4.5 · 66 reviews · 4 hours (approx.) · from $72

Explore Rio’s Port Zone and historic center on a four-hour guided tour with hotel pickup, a small van, and walks through Cais do Valongo, Olympic Boulevard, Praça XV, São Bento Monastery, and the Museum of Tomorrow. Guides may include Sandra, Carlos, Gabriella, Alexia, or Newton, and commentary is offered in English, Spanish, and Portuguese.

“Muy interesante y bonito el paseo. Es bueno conocer el centro histórico y el museo es otro nivel, me encantó”

Check availability →Read our full review

7.Olympic Boulevard, Museum of Tomorrow & History Tour

★★★★★★★★★★4.1 · 47 reviews · 4 hours · from $67

This four-hour guided tour connects Rio’s African heritage, Olympic-era waterfront, Baroque churches, and grand cafés. You’ll travel from South Zone hotels in a small air-conditioned van, then walk through Downtown with an English, Spanish, or Portuguese-speaking guide. Museum entry is included, while food at Confeitaria Colombo costs extra.

“La guía, Marilia, se perdió al llevarnos de un punto a otro. No explicaba los lugares de visita, siempre nos estaba apurando a pesar del tiempo que perdió al perderse entre las calles. El transporte casi nos deja al final del recorrido ya que como eran dos tours en el mismo transporte parecía que estábamos ligados al segundo tour. No fue una experiencia agradable. Por lo que no lo recomiendo.”

Check availability →Read our full review

8.Petropolis Bohemia: Historic tour and visit to the Bohemian Brewery

★★★★★★★★★★4.5 · 45 reviews · from $58

Spend about nine hours exploring Petrópolis, Brazil’s former imperial summer retreat, with stops at the Cathedral, Imperial Museum, Quitandinha Palace, Crystal Palace, and Santos Dumont’s house. The Bohemia Brewery visit includes three tastings. Pickup, lunch, an air-conditioned vehicle, and an English-speaking guide such as Gabriel are part of the experience.

“cidade muito bonita e aconchegante, recomendo a viator, passeio interessante e a agencia com profissionais bons.”

Check availability →Read our full review

9.Centro Historico and Lapa – Santa Teresa Walking, Historical and Bohemian Tour

★★★★★★★★★★5.0 · 44 reviews · 7 to 8 hours (approx.) · from $137

Spend seven to eight hours with a small group of up to 12, walking through Rio’s Centro, riding the yellow Santa Teresa tram, and exploring Santa Teresa and Lapa. You’ll see grand churches, colonial squares, Kobra’s huge mural, Selarón Steps, and the Lapa aqueduct. Guide Ivan may lead the tour, with a drink included and lunch on your own.

“Superbe découverte du centre ville. Yvan nous a fait découvrir l’histoire de Rio pendant une journée. Merci encore à lui pour toutes ces explications. Je recommande vivement”

Check availability →Read our full review

10.Historical Downtown and Lapa – Walking Tour

★★★★★★★★★★5.0 · 44 reviews · 3 hours (approx.) · from $40

Join Rio by Foot for a three-hour walk from Praça Floriano to Praça XV, covering the National Library, Fine Arts Museum, Avenida Rio Branco, Selarón Steps, and historic squares. Guides such as Rafael and Juliana add political context, local tips, and room for questions. Expect about three miles of city walking.

“Really enjoyed the free walking tour in Rio. Our guide was really friendly and welcoming and very informative of the area. The tour took 3 hours but felt very quick in a good way as I really enjoyed it. There was time for a quick toilet break and drink refill which was good. The guide answered everyone's questions and gave good suggestions for what to do, eat, where to go in Rio. Really enjoyed it and would recommend as the tour is free and you can give tips at the end no minimum is required.”

Check availability →Read our full review

11.Imperial Petrópolis – Historic Tour + Teresa Street and Lunch

★★★★★★★★★★4.5 · 44 reviews · 9 hours (approx.) · from $57

Travel from Rio to mountain-set Petrópolis for the Imperial Museum, Quitandinha Palace, São Pedro Cathedral, Crystal Palace, and Santos Dumont’s quirky home. You’ll also get free time on Rua Teresa and a buffet lunch. Guides such as Aldo and Adriana have provided multilingual help, though hotel pickups can stretch the day.

“Petropolis was interesting, very different to Rio with historic palace etc. Bohemia beer tour of brewery incredible bargain for seniors at 19 reals (£3)!!”

Check availability →Read our full review

12.African Heritage: Gastronomy and Musicality Experience

★★★★★★★★★★5.0 · 39 reviews · 5 hours (approx.) · from $110

Spend five hours with a private guide such as Isabella or Jaíse, tracing Rio’s Afro-Brazilian story from the Morrinho Project and Valongo Wharf to Pedra do Sal. Taste Afro-Brazilian and Yoruba dishes, then join a percussion workshop led by an African drummer. The tour begins at 10 a.m. and ends near Largo de São Francisco da Prainha.

“Isabella was very informative and provided a great experience. I was immersed in Brazilian culture and learned more than I thought I could. My mind was changed on Brazilian food and we were welcome each place we went. Highly recommend.”

Check availability →Read our full review

13.Rio Jewish Heritage Half-Day Tour

★★★★★★★★★★5.0 · 35 reviews · 3 hours (approx.) · from $99

Spend about three hours tracing Rio’s Jewish story with a guide such as Ephraim or Leonardo. Visit historic synagogues, Yitzhak Rabin Park, Chaim Weizmann Square, the Jewish Museum, and possibly the Holocaust Memorial. Hotel transport is included, with kosher lunch available by request.

“Efraim was a great tour guide. He included a comprehensive history of the Brazilian Jewish Community in his tour. We visited several synagogues, Kosher shop, JCC and Jewish museum. He and his driver were highly professional and enthusiastic.”

Check availability →Read our full review

14.Historical Downtown and Lapa Walking Tour

★★★★★★★★★★4.4 · 32 reviews · 3 hours · from $60

Meet your guide at Theatro Municipal in Cinelândia for a three-hour walk through Rio’s historic center and Lapa. Visit the old cathedral, Imperial Palace, and National Library, while learning how royal, imperial, and modern Rio fit together. Tours run in English, Portuguese, or Spanish for groups of up to 10.

“Little facts & knowledge really interesting . Not too long, easy walking !”

Check availability →Read our full review

15.Historical Walking Tour

★★★★★★★★★★4.7 · 32 reviews · 4 hours · from $79

Travel by subway from Copacabana to central Rio, then walk through Cinelândia, Praça XV, Travessa do Comércio, and Candelária. You’ll see churches, palaces, cultural centers, and Confeitaria Colombo with a live guide in English, Spanish, or Portuguese. Guides such as Lucien, Monique, Ernani, and Mathilda have led this small-group tour.

“The tour was great! Our tour guide answered plenty of our questions, gave us a lot of information about history, politics, economy of the country. We fully enjoyed this tour!”

Check availability →Read our full review