Free Self-Guided Walking Tour London Westminster Sights by JetSettingFools.com

London Westminster Self-Guided Walking Tour

The City of Westminster is one of the best boroughs in London. Packed with grand architecture, dazzling memorials and intriguing museums, it’s a must-see district for London visitors. To experience it all, we created this FREE London Westminster Self Guided Walking Tour to the top attractions!

 

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Free Self Guided London Westminster Walking Tour

London is massive in just about every way. Rather than feeling overwhelmed, we believe it’s best to focus on specific London Neighborhoods. In this Self-Guided Walking Tour of London we explore iconic Westminster.

 

London Westminster Sights

Westminster is an ideal place to begin self-guided London walks. In fact, we feel it’s the first district visitors should see on their London Itinerary.

Some of the famous sights we include on this Self Guided Walking Tour Westminster Route are Buckingham Palace, Trafalgar Square, Parliament and Big Ben.

We also feature a few of the best museums in the district. Plus, at the end of the walk, we talk about where to eat in Westminster for quintessentially British Foods.

There are enough Westminster sights to see to fill an entire Day in London. However, our Walking Tour of Westminster itself takes just a few of hours. 

Save, Pin or Bookmark our Free London Walking Tour for your vacation to the UK!


 

Westminster London Self Guided Walking Tour

View on a Self Guided London Westminster Walking Tour, England, UK

Alright, let’s lace up our shoes and get to it, shall we? Begin your Self-Guided London Walking Tour in one of the city’s most cherished green spaces.

 

#1 Hyde Park

Chairs in Hyde Park London, England, UK

MAP. One of the Royal Parks in London, Hyde was established in 1536 by Henry VIII as hunting grounds. The park didn’t actually open to the public until over 100 years later in 1637.

Since then, it has been the site of exhibitions, duels, demonstrations, concerts and the London Winter Wonderland Christmas Market.

The vast area is crisscrossed by walking paths, features two ponds, several statues and numerous memorials (including the Princess Diana Memorial Fountain).

Make your way through Hyde Park from west to east. On the west end is Kensington Palace (which can be entered for a fee). Marking the northeast corner is the grand Marble Arch, and on the southeast corner is…

 

#2 Wellington Arch

Looking up at Wellington Arch, Westminster Walking Tour, London, England, UK

MAP. The Wellington Arch was completed in 1830 to celebrate the British victories during the Napoleonic Wars over France and Spain.

Over time, the structure has been relocated and statues switched out, but it still stands as a triumphant monument. For a fee, it is possible to go inside too!

 

#3 Buckingham Palace 

View of Buckingham Palace, Westminster Walks, London, England, UK

MAP. Buckingham Palace is a must see sight that appears on all of the best Self Guided London Walks. 

Built in 1705, the Royal Family has resided at Buckingham Palace since 1837, when Queen Victoria moved there from James’s Palace.

We feel the grand size – 355 feet by 393 feet with 775 rooms, including 78 bathrooms – is actually more impressive than the architectural design or exterior appearance.

 

#4 Queen Victoria Memorial

View of Queen Victoria Memorial, London, England, UK

MAP. You don’t have to go far to see the next sight, because right in front of the Buckingham Palace gate is the grandiose Queen Victoria Memorial!

Facing The Mall (the road that leads from the palace to Trafalgar Square), the memorial features Queen Victoria in marble alongside the Angel of Justice and the Angel of Truth.

 

#5 Changing of the Guard 

Guard at Buckingham Palace, London, England, jetsettingfools.com

MAP. A highlight for many tourists is the renowned Buckingham Palace Changing of the Guard. During the ceremonious change, the red-coated soldiers with their tall furry hats parade to and from the palace grounds. 

Visitors may want to time their visit to coincide with the Changing of the Guard, which is free to watch. For the current schedule (which includes Windsor Castle as well), check the official site.

Note: The next four sights are south of Buckingham Palace. Travelers short on time can simply continue to St. James’ Park, which is #10 on our list. 

 

#6 The King’s Gallery

Entrance to The Queen's Gallery, London, England, UK

MAP. Housing artwork from the Royal Collection, The King’s Gallery (formerly called The Queen’s Gallery) is an exceptional museum at Buckingham Palace. The ever-changing rotation of exhibits are open to the public, but a ticket is required for entry. 

 

#7 The Royal Mews

Horses passing by the Royal Mews, London, England, UK

MAP. The Buckingham Palace Royal Mews is the central hub of transport for the Royal Family – including everything from cars to carriages. 

Visitors can tour the Royal Mews (with a ticket) to get a peek at the luxurious coaches that are used for ceremonies (including the grand Gold State Coach that is more than 260 years old). 

 

#8 Little Ben Clock and Victoria Palace Theatre

View of Little Ben, London, England, UK

MAP. Small and way less famous than Big Ben (which we see later on our Walking Tour in Westminster), Little Ben is a free-standing, cast iron clock tower. It dates to 1892 and is featured on the National Heritage List for England. 

Victoria Palace Theatre was built in 1910 and is a Grade II historic building. Originally it was known for hosting a variety shows, but now mostly features musicals. 

 

#9 Westminster Cathedral

Exterior view of the Westminster Cathedral, London, ENG, UK

MAP. Not to be confused with Westminster Abbey, the Westminster Cathedral is a stunning red-and-white brick neo-Byzantine church. 

Built in the late 1800s and opened in 1903, the Cathedral serves as the Mother Church for the Catholic Church of England and Wales. 

No ticket is required to go inside. Visiting the Cathedral is one of the free things to do in Westminster London! 

 

#10 St. James’ Park and Palace

Pelican at St James Park, London, England, UK

MAP. Lining the south side of the The Mall from Buckingham Palace nearly all the way to Trafalgar Square is pleasant St. James’s Park. It is the oldest of the 8 Royal Parks.

The grounds used to be marshland, but now provide open space and benches for Londoners and tourists to play, picnic and rest.

In addition to seeing the flower gardens and lake, visitors can walk along part of the Diana Princess of Wales Memorial Walk, cross the Blue Bridge and try to spot one of the famous resident pelicans. 

Next, cross The Mall and walk north on Marlborough Rd to get a glimpse of St. James’s Palace. It was built in the 1530s and served as the royal residence prior to Buckingham Palace. 

 

#11 The Mall

View looking down The Mall, London, UK, England

MAP. Often lined with the colorful Union Jack (the national flag of the United Kingdom), The Mall is the site of ceremonial Royal processions. 

If it’s a weekend or a holiday, The Mall will be closed to traffic. Feel free to parade your way like a royal down the center to our next stop!

 

#12 Admiralty Arch

View of the Admiralty Arch, London, England, UK

MAP. At the east end of The Mall, the Admiralty Arch marks the entrance into Trafalgar Square. The arch was built in 1912 and dedicated to Queen Victoria.

Ceremonial processions often begin under the arches and proceed down the Mall to Buckingham Palace.

For many years, the Admiralty Arch was used for government offices. Currently it’s being transformed into the Waldorf Astoria luxury hotel (scheduled to open in 2025).

 

#13 Trafalgar Square

Trafalgar Square, Christmas, Walking Tour Westminster, London, UK

MAP. This expansive square was built to celebrate the victory at The Battle of Trafalgar. Now, it is a gathering place for tourists, street performers and artists.

Perhaps the most famous London square, it’s home to many sights and monuments – including four giant bronzed lions. 

 

#14 Nelson’s Column

View of Nelson’s Column, Walking in Westminster, London, UK

MAP. The focal point of Trafalgar Square is the 169 foot tall Nelson’s Column, which was built in the 1840s to honor Admiral Horatio Nelson.

He is credited for the naval victory in the Battle of Trafalgar during the Napoleonic Wars, although he actually died in the conflict.

 

#15 The National Gallery

Exterior of The National Gallery, London, England, UK

MAP. One of the best London museums, The National Gallery displays artwork from the 13th century onwards.

The institution was founded in 1824 and now holds more than 2,300 works of art. The collection includes masterpieces by Van Gogh and Da Vinci (among many other masters) and is completely free to visit! 

 

#16 St. Martin-in-the-Fields 

Exterior view of St. Martin-in-the-Fields, Westminster, London, UK

MAP. Situated on the northeast side of Trafalgar Square is the quaint St. Martin-in-the-Fields Church. The Crypt houses a café that serves excellent food at affordable (for London) prices and free toilets. 

Pro Tip: North of Trafalgar is Leicester Square, the well-known entertainment district. London Chinatown is also nearby and worth a detour if time allows. 

 

#17 Whitehall London

View looking down Whitehall, London, England, UK

MAP. Whitehall is the main road that connects Trafalgar Square to Parliament Square. Home to numerous executive entities, the name is often used to refer to the United Kingdom government as a whole.

In addition to the many bureaucratic offices that line Whitehall, there are several interesting sights and monuments along the road. We highlight those next on our Westminster Self-Guided Walking Tour!

 

#18 Horse Guards Building & Household Cavalry Museum

Horse Guards lining up, Westminster Tour on Foot, London, UK

MAP. Built in 1753, the Horse Guards Building is home to the Household Cavalry Mounted Regiment. The Household Cavalry Museum sits on the grounds as well and is open to the public (ticket required).

At 10:50am Monday through Saturday and at 9:50am on Sundays, crowds gather around the entrance to watch the changing of the guard.

 

#19 10 Downing Street

Number 10, London, England

MAP. Number 10 Downing Street is the official residence and office of the UK Prime Minister. Although impossible to get close to, it’s fun to look through the gates and past the coppers for a glimpse!

 

#20 The Cenotaph and Whitehall Memorials

View of The Cenotaph while walking Whitehall, London, England, UK

Several statues stand in the center of the Whitehall roadway. From north to south, the notable ones to look for are George Duke of Cambridge, Earl Haig Memorial, the Women of World War II and the Cenotaph.

MAP. The Cenotaph is a prominent war memorial that is dedicated to the soldiers who lost their lives during the World Wars and other British conflicts. 

Just south of the Cenotaph is a grand archway, called the King Charles Street Arch, that leads onto the historic and architecturally rich road of the same name.

At the far end is the Churchill War Rooms Museum (MAP), which are part of the Imperial War Museum.

The underground rooms were built in the 1930s and used throughout WWII by Churchill. Visitors can tour the well-preserved bunker with a ticket.

 

#21 Parliament Square Garden

Parliament Square Garden at the Churchill Statue, London, England, UK

MAP. The small Parliament Square Garden offers visitors a unique vantage point of some of the most iconic Westminster sights – including Big Ben, the Palace of Westminster and Westminster Abbey. 

Just look at these famous London sights for now. We find a better vantage point of them later in our Self Guided Westminster Tour. 

The square itself, which is worth taking a quick walk around, is ringed by trees and statues of prominent politicians, including Winston Churchill, Abraham Lincoln and Nelson Mandela. 

Walking from Parliament Square to Westminster Abbey, perhap stop at St. Margaret’s Church (MAP) on the way. Founded in the 12th century, it’s free to enter and features an impressive interior. 

 

#22 Westminster Abbey

Exterior view of Westminster Abbey, London, UK

MAP. The iconic Abbey is a magnificent church with soaring Gothic spires, more than a thousand years of history and a strong royal connection.

Sixteen royal couples, including Will and Kate, have said their vows here. King Charles III celebrated his Coronation at Westminster Abbey, as has every monarch since 1066.

There is a fee to enter and tour Westminster Abbey – and it is best to buy tickets in advance. However, visitors can go inside free for a service.

 

#23 Victoria Tower Gardens South

View of Victoria Tower Gardens South, London, England, UK

MAP. One of the small Royal Parks that sits along the Thames riverside, Victoria Tower Gardens offers one of the better views of the Palace of Westminster.

In addition to seeing Parliament, visitors can take in the view across the River Thames and seek out artwork and a famous memorial. 

Find the Burghers of Calais statue by Auguste Rodin on the south side of the Palace of Westminster. The statue commemorates the Hundred Years War between England and France during the Middle Ages. 

In the center is the colorful Buxton Memorial Fountain. The octagonal piece celebrates Britain’s abolishment of slavery in 1834 (but it wasn’t built until 1865). 

 

#24 Tate Britain 

Exterior view of the Tate Britain, London, England, UK

MAP. Opened in 1897 as the National Gallery of British Art, the Tate Britain is a highly touted art museum in London and one of the largest in England. The displays feature works by British artists as well as contemporary art and admission is free! 

 

#25 Lambeth Bridge

View walking across Lambeth Bridge, London, England, UK

MAP. There has been a water crossing at the site of Lambeth Bridge since the 1800s. The span that straddles the river today dates to 1932 and is marked by obelisks at either end topped with pinecones. 

Cross over to the east side of the River Thames and follow the pedestrian Albert Embankment path north. This route provides an ideal view of the next sight on our London Westminster Walking Tour!

 

#26 Palace of Westminster Parliament Building 

View of UK Parliament, London, UK

MAP. Officially known as the Palace of Westminster, the Parliament building has been the center for British government for the past 900 years.

Westminster Palace (along with Westminster Abbey and St. Margaret’s Church) are together listed as a UNESCO World Heritage Site. 

Two of its 1,100 rooms are the chambers for the House of Lords and the House of Commons. The Palace of Westminster also features libraries, dining halls and two pubs (one being the infamous Strangers’ Bar) that are used by MP’s, their guests and selected staff.

Visitors can go on a tour of the building (ticket required) or attend selected sessions for free. Find out more on the official website.

 

#27 Westminster Bridge

View of Westminster Bridge, London Walking Tour, England, UK

MAP. Built in the mid-1700s, Westminster Bridge stands today as a landmark in London. Before crossing over, enjoy an epic London view that encompasses the bridge, Big Ben and Parliament. 

Now, continue your DIY London Tour of Westminster and cross back over the Thames. This area is ridiculously crowded, so take your time and stay patient.

 

#28 Big Ben

View of Big Ben and the Elizabeth Tower, London, England, UK

MAP. The four-faced clock tower often referred to as Big Ben, is actually the Elizabeth Tower. The largest of the five bells inside the tower is named Big Ben – and it rings on the hour.

The neo-Gothic tower was built in 1859 and stands 316 feet tall. Today, the bell tower is an iconic symbol of London and another UNESCO site. 

 

#29 River Thames Memorials, Statues & Sights

View up the River Thames and Memorials, London, UK

Several landmarks, statues and memorials stand on the bank of the Thames River, north of Big Ben. We are highlighting a few of the sights to look for along the riverbank.

MAP. The Royal Air Force Memorial was erected in 1923 in memory of airmen who died in WWI. The PS Tattershall Castle, a moored boat and now a pub, was used as a passenger ferry from 1934 until 1973. 

Look across the River Thames to The London Eye Ferris Wheel. It allows passengers a birds’ eye view of the city (at an extremely slow speed). A top modern London sight, it was completed in the year 2000 and is also called the Millennium Wheel.

 

#30 Golden Jubilee Bridge

People walking on the Golden Jubilee Bridge, London, England, UK

MAP. Attached to both sides of the Hungerford Bridge, these raised pedestrian paths are officially called the Golden Jubilee Footbridges.

Make your way up to the south facing side and go halfway across to take in one of the best views in London and Westminster. 

 

Bonus: Victoria Embankment Gardens

Walking Victoria Embankment Gardens, Westminster, London, UK

MAP. If you still have some spring in your step, continue your Free Self-Guided Walking Tour of London north along the Victoria Embankment. 

The riverside promenade stretches from Parliament north to Blackfriars Bridge. The route is marked by beautiful flower gardens, poignant memorials and outstanding views. Don’t miss Cleopatra’s Needle, an Egyptian Obelisk dating to 1450 BC.

Still going strong? Bravo! Continue your stroll with our Thames River Pub Crawl or check out the Top Sights in the City of London!

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Westminster London Walking Tour Map

Use this Google Map for an interactive version of our Westminster Walking Tour in London Map from below.

Westminster Walking Tour MAP by JetSettingFools.com

 

Westminster London Walking Map with Directions

To help visitors easily get around Westminster, we created four London Self-Guided Walking Tours Maps that provide step-by-step directions. 


 

Where To Eat in Westminster London

If you get peckish during your Westminster walk, there are a few places where you can stop to get a bite to eat along our London Self Guided Walking Tour route. 

 

The Laughing Halibut

MAP. A classic fish and chips shop that has been around since 1982, The Laughing Halibut is a family run spot and their Haddock and Chips is excellent! 

 

Regency Café

Line to eat at Regency Café, London, England, UK

MAP. Before setting off on your Self Guided Walking Tour of London Westminster, fuel up with a traditional Full English Breakfast at Regency Café. The diner is a local favorite – so expect a queue! 

 

The English Rose Café and Tea Shop

High Tea at The English Rose, London, England, UK

MAP. One of the best (and most affordable) places for Afternoon Tea in Westminster, The English Rose Café is delightfully charming – and the scones are incredibly delicious!


 

More Money Saving Tips For London

Up close detail of Westminster Abbey, London, England, UK

Looking for more ways to save money in London? Read our detailed 3-Day London Itinerary on a Budget

The itinerary includes spending A Day in Greenwich, taking in views from the free SkyGarden and our favorite Free London Museums

We also share more frugal travel tips in our guide on How To Plan a Budget London Vacation


 

Take This on a Self Guided London Walking Tour

Classic London View, England, United Kingdom

Before setting off on any self-guided walking tours in London, make sure you have a few necessities! 

 

Walking Shoes for London

While London is a very walkable city, it is important to wear comfortable travel shoes for our tour. I like to take city walks in these trainers by New Balance and Kris prefers wearing Merrell Shoes

 

Travel Camera

London is a very photogenic destination! Capture the sights properly with an actual camera (and keep your phone tucked away from pickpockets).

We use a Canon Rebel with a 18-135mm lens – which takes incredible photos and when purchased as a kit is a great budget camera option.

 

Wi-Fi Connection 

In order to use our Westminster Walking Tour Map Links that we share for each sight, you will need connectivity.

Many phone providers allow travelers to adjust data for international trips. However, we recommend investing in a Pocket WiFi Device – like the GlocalMe. We would literally be lost without it!

 

Day Pack and London Weather Gear

It’s also important to have a good day bag for your outing. We carry these small backpacks, which work perfect for us. Looking for a different style? Take a look at the traveler bags made by Travelon

The weather in London is notoriously rainy! Be prepared for foul weather with a travel umbrella or packable raincoat

 

London Travel Insurance

Trip insurance may cover costs when travel goes wrong (like lost luggage, cancelled flights or illness). If you haven’t already obtained coverage, consider traveling protected with World Nomads.

 

Start planning your trip to the UK! Search for the lowest airfares, the best accommodations and fun things to do…then start packing!  Want more advice? Head over to our Travel Planning Page for more tips on traveling – and for country-specific information, take a look at our Travel Guides Page!

 

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Free and Self-Guided Walking Tour London Westminster Sights by JetSettingFools.com

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