There are few better-known palaces in the world than Buckingham Palace—even if it’s been used by the British monarchy for less than 200 years (and was not, according to rumor, the late Queen Elizabeth II’s preferred royal residence). Still, thanks to its location in the heart of London—and its equally famous Changing of the Guard ceremony, held multiple times weekly—it remains an essential stop on the city’s tourist circuit. Although its London palace tours are only offered for a limited period during the summer each year (be sure to book tickets in advance), you can still attend a tour that focuses on the Changing of the Guard throughout the year.

West London’s Kensington Palace may not be as internationally renowned as Buckingham Palace, but it has no less heritage or pedigree. A royal residence since William and Mary settled here in 1689, it was the birthplace of Queen Victoria and the former home of Princess Diana; today, it’s the official residence of the Duke and Duchess of Cambridge (aka, William and Kate). It’s also one of the best options for those visiting royal palaces in London. While you can purchase tickets to see current exhibitions held at the palace (as well as tour the King and Queen’s State Apartments), it’s worth attending high tea for a truly regal experience.

Insider tip: Kensington Palace is flanked by Kensington Gardens, one of London’s Royal Parks and a beautiful green space. It’s worth setting aside time for a stroll, and to seek out landmarks along the Diana Princess of Wales Memorial Walk.

Less outwardly grand than Buckingham Palace—but still one of the most notable historic palaces in London—St. James’s Palace is tucked away near Mayfair, central London. Technically the official seat of the British monarchy, the palace has 500 years of history, dating all the way back to the reign of King Henry VIII. Although St. James’s Palace is today a working palace that is reserved for official duties (and is therefore usually closed to members of the public), it does offer occasional guided tours. Otherwise, even if your London trip doesn’t coincide with one of those rare opportunities, you can book a sightseeing tour that stops right outside, and which shares its rich history.

Insider tip: Wary of the crowds at Buckingham Palace’s Changing of the Guard? The ceremony is also held at St. James’s Palace, which usually offers a quieter, more up-close way to experience it.

It’s easy to forget that the Tower of London is technically a palace. More commonly associated with its history of grisly executions (everyone from Queen Anne Boleyn to Utopia author Thomas More lost their heads here), the landmark still carries a strong whiff of the dark and macabre today. But with its crenelated towers and imposing presence, this UNESCO–listed landmark really is one of the best royal palaces in London. It’s worth booking a tour of this always-popular landmark well in advance; once inside, you can discover the Crown Jewels, glimpse its famous Beefeaters, and admire views of the adjacent Tower Bridge.

Queen Lizzy might not have been a fan of Buckingham Palace, but she couldn’t get enough of Windsor Castle—and it’s not hard to see why. The royal landmark—located around 23 miles (37 kilometers) west of London, in the Royal County of Berkshire—dates all the way back to the 11th century, when it was founded by none other than William the Conqueror. Since then, it’s hosted some 40 English monarchs, as well as major events (including Prince Harry and Meghan Markle’s wedding). No wonder it’s one of the top London royal attractions—and visitors can book tickets in advance to tour its State Apartments, St. George’s Chapel, and other highlights.

Insider tip: While direct trains run regularly between central London and Windsor, you can also look for tours that offer round-trip transit from the city, making getting there even simpler.

Of the must-see royal palaces in London, few rival Eltham Palace when it comes to personality. The royal residence—located in southeastern London, and most recently home to the wealthy Courtauld family in the 1930s and ’40s—is really a hybrid. There is its medieval palace, which was built for Edward IV 500 years ago, and which was also home to King Henry VIII during his childhood. Then there is its dazzling art deco house adjoined, built by the Courtaulds in the 1930s and considered an architectural marvel. Together, you can see all its varied splendor on an Eltham Palace tour.

Speaking of King Henry VIII: Though the tyrannical Tudor is linked to numerous palaces, no other royal residence is as closely associated with the monarch as the storied Hampton Court Palace. Poised overlooking the Thames and Bushy Park in the city’s southwest, it’s one of the top royal palaces in London—and England as a whole. The palace was considered the English answer to Versailles in its day, and is instantly recognizable for its red-brick facade. Today, you can book a sightseeing tour to learn what court life was like in the 16th century, see the Christopher Wren–designed baroque addition, and explore its 60 acres (24 hectares) of gardens.

Enough about Henry—it’s time to talk about Anne Boleyn. The second of Henry’s six wives and the mother of Elizabeth I, the storied former queen spent her childhood years at the 14th-century Hever Castle. Today, visitors to the royal residence can discover one of the country’s finest collections of Tudor portraits, see artifacts like Anne Boleyn’s prayer books, and admire its well-preserved period interiors. And while the castle is technically located just south of London, in Kent, getting there by train—or guided tour—is simple.

One of our top London palace visiting tips: Pick a landmark that’s as beautiful outside as it is inside. Take Kew Palace. Situated within Kew Gardens—one of four UNESCO World Heritage Sites in London—the 17th-century former home of George III and Queen Charlotte is billed as the smallest and most intimate of the royal palaces. It’s worth heading inside to peer into its well-preserved Georgian kitchens, Queen Charlotte’s bedroom, and other historic rooms. Then, turn your attention to the wider area’s charms on a Kew Gardens tour.