Why winter, and only winter
From October to March the days sit in the low twenties and the light is beautiful, which is when the forts and old cities are at their best. April to June regularly passes 45C and turns sightseeing into an endurance test. The trade off is cold desert nights, so pack a warm layer even if the afternoon feels like summer.
Three cities, three characters
Jaipur is the busiest and most commercial, with Amber Fort and the bazaars. Jodhpur is the most photogenic, and Mehrangarh is the fort that most visitors rank first. Udaipur is the calmest, built around lakes and best for an anniversary or a slower end to the trip. Ending in Udaipur rather than starting there usually works better.
Driving distances are the real planner
Jaipur to Jodhpur is roughly six hours, Jodhpur to Udaipur about five. Break the second drive at Ranakpur, where the marble Jain temple is worth the stop. Trying to add Jaisalmer to the same week means two more long drives, so treat it as a separate trip unless you have ten days.
Staying in a heritage property
Rajasthan is one of the few places where a converted palace or haveli costs less than an international chain and gives far more character. Ask about lift access, because many heritage buildings have stairs only, and about heating for December and January. For families, check whether the property has a pool that is actually usable in winter.
