15 Best Cabo San Lucas Shore Excursions to Book in 2023

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If you’re booking a Mexican Riviera cruise that will visit Cabo San Lucas, you may already know that Cabo has been a playground of the rich and famous for decades. But don’t worry, you don’t have to be a millionaire to enjoy a day in port! There are plenty of Cabo San Lucas shore excursions that won’t break the bank.

Read on for our list of the best things to do with a day in Cabo San Lucas cruise port. This article will make your Cabo vacation unforgettable!

ⓘ TIP: If you are planning a cruise vacation, this guide covers all aspects of cruising, including all the places you can visit, what people do on these trips, how to get the best deals on cruises and in port, where in the ship to book your room, and more. The author has been on over 25 cruises.

1. Whale Watching Boat Ride with Free Pictures

woman on a boat looking at the tail of a whale

Climb aboard a super-fast and comfortable RIB boat and embark on a whale-watching adventure with your captain and an onboard marine biologist.

After a quick safety briefing, your captain will take you to Land’s End, where you’ll find the most famous rock formations in Los Cabos. You’ll stop to admire Pelican Rock, Lover’s Beach, Neptune’s Finger, and El Arco, Cabo’s famous Arch — so you can grab lots of photos. You will also be able to watch a friendly colony of sea lions nearby and hear about them from your marine biologist guide.

Next, it’s off to either the Pacific Ocean or the Sea of Cortez, depending on where the humpback whales are hanging out. You’ll also spot other marine animals on the way—such as blue whales, orcas, and dolphins—and hear about the ones you encounter from your expert guide.

Best of all, this whale-watching tour includes a hydrophone, so you can listen to the haunting sounds of the whales and marine life around you during the tour.

  • 2 hours

ⓘ TIP: When planning your next tour or excursion, make sure to take the time to carefully read its description and check reviews from customers. Doing this will help ensure you get the most out of your experience and avoid any potential disappointments.

2. Snorkeling Cruise with Open Bar

Child in foreground with mask and snorkel. Glass bottom boat in the background with people on it

Because the warm waters of the Sea of Cortez attract an abundance of colorful tropical fish, snorkeling is pne of the most popular things to do in Cabo San Lucas.

This four-hour snorkeling cruise begins with a boat ride past Lover’s Beach, The Arch, and the sea lion colony. You’ll enjoy included snacks and an open bar while n your boat takes you to one of the best places to snorkel in Cabo.

Once you arrive at Santa Maria Bay, you’ll get to explore Cabo’s underwater world first-hand. Your captain will provide all the necessary snorkeling gear and be on hand to assist with any questions.

Once you’ve had your fill of snorkeling, kick back with a cold beer or icy margarita from the open bar while you dry off and enjoy the scenery. You’ll be served a delicious lunch of fresh fruit, deli sandwiches, and chips and salsa on the way back.

  • 4 hours

3. The Arch and Lover’s Beach Kayaking + Snorkeling

Kayaking in Cabo San Lucas, El Arco in the background

If you’ve always wanted to try kayaking, here’s your chance. This excursion begins with a short lesson on kayaking techniques and safety procedures, then it’s off to explore Cabo’s most famous landmarks from an entirely different perspective!

Your kayaking tour will begin along Land’s End, where the Sea of Cortez meets the Pacific Ocean. As you paddle past the sea lions in their colony, you’ll have a front-row seat to their aquatic antics and a magnificent view of The Arch from sea level. 

Then, don your snorkeling gear at Lover’s Beach and check out the tropical fish and exotic marine life around Pelican Rock and Neptune’s Finger.

  • 3.5 hours

4. Taco Tour and Tasting through Downtown

People on a food tour

If you Juan more Mexican food in your life, this is the Cabo San Lucas tour for you. Your knowledgeable tour guide will will fill you in on the region’s gastronomy, tequila, and local history while you eat like a local at some of the best spots in town.

Not only will you sample five different types of tacos on this walking tour, you’ll also enjoy churros and palletas (Mexican ice cream bars), and do a tequila tasting — all from local vendors who are sure to delight your taste buds.

Make sure you come hungry!

  • 3 hours

5. San José del Cabo: 2-Hour ATV Tour

People on ATVs in Baja California

On this guided ATV tour, you’ll go off the beaten path to see stunning beaches, wild desert scenery, and magnificent panoramic views of San José del Cabo’s peaceful eastern cape.

Discover hidden beaches and desert landscapes after receiving a safety briefing and then head offroad into a national park. You will ride along fantastic desert trails, sandy dunes, and dry river beds as you your way to the beautiful, undeveloped expanses of Migrino Beach.

Then, you’ll ride along the water’s edge, stopping to take breathtaking shots whenever you see fit. Your guide will offer some picturesque spots for photo ops as well.

Note that the park charges $20 per person for entry (cash only). ATV insurance (optional) is also additional.

  • 2 hours

6. Mexican Cooking Class and Market Tour

People at a cooking class

You’ll get an excellent intro to the Mexican kitchen on this small-group tour. It begins at the Municipal Produce Market in San José del Cabo, where you will meet your chef/guide for the day.

Chef Francisco will take you through the market, pointing out various items and explaining their importance to Mexican culture. After choosing the freshest ingredients for your cooking class, he’ll take you to a typical tortilla factory, where you can see how tortillas are created in Mexico.

Next, you’ll head over to Chef Francisco’s home, where he’ll help you prepare your Mexican lunch. You’ll learn the secrets of making traditional Mexican salsas, as well as how to add flavor to your dishes with different types of chiles.

The menu varies daily and can be tailored to your preferences. Check the description for details.

  • 4 hours

7. Glass Bottom Boat Cruise

Glass bottom boat tour, one of the top Cabo San Lucas excursions

If you want to see the top attractions in Cabo San Lucas but don’t want to spend a lot of time doing it, take a glass-bottom boat cruise. That’s what we did when we were there, which gave us lots of time to see what the town had to offer.

These one-hour boat trips take you past Cabo’s most popular sites, including El Arco (the Cabo San Lucas Arch), Lover’s Beach, the sea lion colony, and Pelican Rock.

You can admire Cabo’s high-end homes and natural beauty from the comfort of your boat, with a knowledgeable guide on hand to provide information about the area and its wildlife. You never know what you may see through the boat’s glass bottom—turtles, sea lions, manta rays … or maybe something even bigger.

  • 1 hour

8. Camel Ride Safari with Lunch and Tequila Tasting

Two people leading a couple on a camel on the beach.

This Cabo tour combines a camel ride, a nature hike, a buffet taco lunch, and a tequila tasting. The camels are gentle and friendly, and you’ll learn all about their history and anatomy while petting and feeding them!

Your tour begins with a camel ride along the water, followed by an easy hike through an ecological reserve. Your guide will tell you more about the different types of plants, vegetation, and wildlife in the region, and show you unique things like the Mexican giant cactus.

After you’ve built up your appetite, you’ll be treated to a delicious buffet lunch of all-you-can-eat tacos and traditional Mexican flavored water. Then you’ll cap off your tour with a tequila-tasting course, where you’ll learn all about the drink’s history, how it’s made, and the proper way to enjoy it.

Note that the park charges $20 per person for entry (cash only).

  • 2.5 hours

9. Private Catamaran Tour for up to 22 People

Catamaran anchored with two passengers enjoying the water on a float and a SUP board

This is the best excursion in Cabo San Lucas for a group activity. You’ll begin with a cruise past all the bay’s dramatic landmarks, like the arch, the sea lion colony, and Lover’s Beach.

Then, the boat will sanchor off a semi-private beach where you can snorkel, swim, and play. The boat is equipped with 2 stand-up paddleboards, an 8-person water mat, spaghetti noodle floating devices, and snorkeling gear.

The boat has a fantastic stereo system, so bring your favorite tunes. You only need to bring the food, snacks, and adult beverages, because the cruise includes an ice chest stocked with soft drinks. (An open bar option is also available.)

  • 4 hours

10. A Flavor Experience and Art Gallery Tour

Host of the Food and art gallery excursion in Cabo

Experience San José del Cabo on a private food and drink tasting tour that also includes a trip to a local craft shop and an art museum.

You’ll watch your private chef whip up some authentic fresh guacamole and enjoy a seafood dinner of local flavors before you try out new variations on homemade tacos and margarita concoctions.

If you like, you can finish off your dinner with a mezcal and tequila tasting. Try to see if you can pick out the subtle flavors in each sip, like local honey, anise, coffee, and chocolate.

Finally, stop at the Pacha Mama store, which sells organic, artisan products, and visit an art gallery to see the works of local Mexican artists.

  • 2.5 hours

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Whale breaching the water. Text overlay says "15 best excursions in Cabo San Lucas"

11. Day Tour with Tequila and Chocolate Tasting

Sign for the Historic District of San Jose del Cabo

This excursion kicks off with a 45-minute glass-bottom boat trip around Land’s End, then takes you into the center of Cabo San Lucas to visit the glass-blowing factory.

Next, you’ll travel the Tourist Corridor, which features top-notch hotels, championship golf courses, and breathtaking ocean vistas. You’ll then take a guided walking tour through the historical center of San José del Cabo, where you will test your tastebuds with a tequila and Mexican chocolate tasting.

Enjoy the mouthwatering delicacies, and then take advantage of the spare time to go shopping and have lunch before returning to Cabo San Lucas.

  • 6 hours

12. Pacific Horseback Riding Tour

Person riding a horse on the beach

Imagine riding along the Pacific Coast on the back of a faithful steed while the breeze blows through your hair and the sun warms your face.

This cruise excursion begins at a traditional Baja California ranch, where your guide will match you to a horse suited to your level of experience. You will canter through deserts full of cacti and along sandy beaches, passing rocky cliffs and cacti that tower six meters (20 feet) overhead. You’ll come home with breathtaking pictures of the stunning scenery and unique flora.

This experience is ideal for families and small groups. With a maximum of 15 people per tour, your guide will guarantee that everyone gets the personalized care they deserve.

  • 3.5 hours

13. Wild Canyon Park Pass

Mother and grandmother looking at a child with an iguana

Want to make sure everyone has a good time? Wild Canyon Adventures Park offers hours of unlimited fun. A park pass gives you access to:

  • UTVs
  • Off-Road ATVs
  • Bungee or Swing – a glass-bottom gondola that’s suspended 300 feet above the Canyon. You can either swing in it or bungee jump.
  • Camel Ride
  • Ziplines
  • Horseback riding
  • Bird and reptile sanctuary
  • Los Cabos Canyon Bridge (the longest suspension bridge in the country)
  • Wagoona Splash Island
  • Canyon trails

This tour includes round-trip transfers to make your day hassle-free.

  • 6 hours

14. Extreme Canyon Zip Lines

woman on a zipline

This is the best Cabo San Lucas cruise excursion for adrenaline lovers. Feel the wind on your face as you zip along at 50 miles per hour, 300 feet above Costa Azul’s canyons.

With a network of 7 ziplines and endless desert and ocean views to enjoy along the way, you’re guaranteed to get one adrenaline rush after another. Finish off your excursion in style with a liquor-tasting experience in the restaurant.

  • 2 hours

15. Sea of Cortes Guided Jet Ski Tour

Couple on a jetski, with woman pointing in the distance

This excursion begins at Cabo San Lucas Marina with a high-speed boat ride to Land’s End, where you’ll stop for photos of the spectacular Cabo arch and then head out on your adventure.

Once you get to the private area of Punta Ballena, you’ll hop on your jet ski and join a guided formation as your professional guide takes you along the coastline. You’ll cruise past Cabo’s luxurious homes and – if you’re lucky, you might even have an up-close encounter with Cabo’s giant humpback whales (they’re here in winter months).

You can even kick things up a notch by opening up the throttle and taking a thrilling journey back to Cabo. You’ll be rewarded with a light snack and cold beverages when you make it back to Cabo Marina!

  • 3 hours

ⓘ TIP: It is customary to give a tip if you have a great experience. Tour guides and drivers should get at least 10% of the tour fee, or $3 (56 pesos) for a half day trip. You do not need to tip taxi drivers unless they provide extra help with bags.

What to bring on a Cabo San Lucas tour?

Los Cabos is a hot and sunny destination. You will need sunglasses, reef-safe sunscreen, swimwear, a hat, and comfortable walking shoes for sightseeing. A light jacket will come in handy for boat trips and air-conditioned restaurants. Always carry cash for souvenirs and gratuities, and remember a camera to capture the moment.

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Written by Linda

Linda is multilingual and has been to over 50 countries. Her insatiable love of travel, cuisine, and foreign languages inspired her to create As We Saw It, where she documents her trips, shares practical itineraries, and offers insider tips. She’s passionate about helping fellow travelers save time, money, and hassle, and loves to discover new places to explore.

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