Discover a different side of weird and wonderful San Francisco on this long-running ghost hunt walking tour. Escape the crowds on an evening stroll along Pacific Heights’ tree-lined streets, hearing all about the city’s history, past residents and their reported reappearances. Keep an open mind and your eyes peeled for the otherworldly.

Gateway to the Grand Canyon, state capital Phoenix has a lot going on besides desert landscapes and saguaro cacti. It has more parkland than any other major US city and an incredible art scene, the latter providing the focus for monthly First Fridays evening art walks. Locals and visitors alike gather for a fun stroll around the city’s galleries, artists’ studios and other cultural venues, popping in to bars and boutiques along the way.

Dancing shoes or walking shoes? You’ll need both as you explore The Big Easy on this tour with Urban Adventures. Starting at the striking arched entrance to Louis Armstrong Park, you’ll learn all about the birthplace of jazz, its ever-evolving nature and the best places to catch the city’s pre-eminent and up-and-coming musicians. There’s also time to take in Frenchmen Street’s top venues and the nightly art market, and of course, to enjoy a beer and some live jazz along the way. Read our full guide to New Orleans here.

See why West Hollywood is deemed the most walkable city in California on a memorable sightseeing hike. Opt for a daytime or twilight guided tour which starts at Griffith Park with sweeping views of the famous cityscape. There'll be photo opportunities galore as you pass the iconic Hollywood sign, Griffith Observatory and finish up atop Mount Hollywood.

Portland is craft beer central – it boasts more breweries than any other city in the world. Taste a range of its award-winning beers and get to grips with hops, malt and yeast on a BeerQuest walking tour. Along the way your guide will let you in on the city's history of saloons and speakeasies, tell rousing tales about the Prohibition era and you'll visit Portland’s oldest bar.

Chicago will knock you sideways with its soaring skyline, live music scene, superb museums and food offering. For a taste of local life, join the Best in Chow tour. You'll head to downtown Chicago’s foremost restaurants, such as Lou Malnati’s for deep dish pizza and Portillo’s for Chicago-style hot dogs. Leave with a full stomach and a better appreciation of the Windy City.

Away from the rollercoasters, Orlando city is great in its own right with brilliant museums, top-notch food and the delightful Harry P Leu Gardens. A self-guided walking tour by See Art Orlando provides a refreshingly gentle way to get to know the city. Showcasing a collection of nine sizeable public artworks, selected from 16 countries and 36 states, the tour includes encounters with dancing aluminium wings, a flock of airborne birds and a reclining limestone muse.

Follow the Black Heritage Trail around Boston’s Beacon Hill to discover the important role this neighbourhood played in black history. The trail starts at the Robert Gould Shaw Memorial (pictured) and covers 14 sites including the Abiel Smith School, the country’s first purpose-built school for black children. Self-guided tours can be taken at any time but it’s worthwhile joining one of the free 90-minute tours run by the National Park Service.

Once you’ve made the most of the free entry to DC’s star attractions, namely the White House, Smithsonian and presidential memorials, consider striking out from the National Mall. A DC design walking tour around the swanky Dupont Circle district takes in a host of architectural styles from neoclassical to Art Nouveau. You’ll pass grand colonnaded embassy buildings and hear intriguing snippets about what went on behind these imposing closed doors.

Drag yourself away from the roulette table for a trip through downtown Las Vegas. On this two-hour guided tour, listen to stories about Sin City's history, Vegas legends, lesser-known players and recent regeneration projects. Just hope it's not too sweltering.

With more than 20 key sights crammed into a square mile, Philadelphia’s historic district is perfect for exploring on foot. The compact area is deceptive though – there’s more than a day’s worth of exploring here. Let a clued-up historian lead the way on an efficient guided tour that takes in many of this World Heritage City’s most popular sights, including the Liberty Bell and Independence Hall (pictured).

If a singalong, hop-on, hop-off bus trip isn’t quite your thing, book a place on the Echoes of Nashville walking tour. Promising to reveal a hidden side of Music City, this laid-back tour delves into Nashville’s fascinating history as it winds its way past Lower Broadway’s honky-tonks, through Riverfront Park and on to Ryman Auditorium and the Downtown Presbyterian Church.

No visit to Seattle is complete without a stop at Pike Place Market, but a quick guided tour of the covered complex guarantees you a complete market experience. Let your guide take you to the best of the 300 vendors, stalls and small shops, chatting to traders, checking out the original Starbucks and trying tasty samples.

Miami has long been a looker with the pastel shades of its famous Art Deco buildings offset by green palms and azure skies. There’s a lot to look at besides the city’s architecture and the deep blue sea though. Miami has become synonymous with art – in addition to the clout of the Wolfsonian-FIU, there’s the Perex Art Museum Miami and the annual Art Basel festival. Plus there's street art galore, best appreciated on a public art walk through downtown Miami with HistoryMiami Museum.

Cincinnati is an unexpectedly pretty city best discovered on foot. There’s the mile-long riverside walk, skirting the Ohio River from Public Landing, and the elevated Skywalk which connects several city blocks. Go the whole hog with an afternoon walking tour that takes in Findlay Market, the dizzy heights of the Art Deco Carew Tower (pictured), Washington Park and the National Underground Railroad Freedom Center. With all that and more, you’ll be grateful that a quick hop on the streetcar is included.

Atlanta is the location of many key events in the American Civil Rights movement and with 2018 being the 50th anniversary of Martin Luther King Jr.'s death, the time is right to take this authoritative civil rights tour. Visit King’s birth home on Auburn Street (pictured) and explore the area that has come to be known as Sweet Auburn with a well-versed guide. Read our full guide to Atlanta here.

It may be home to the Heinz empire but there’s a lot more than condiments to Pittsburgh and its food scene. Take a tour around the Strip District, pretty much one big market, and get to know the community through its food. From black and gold hummus to parma sausage and pepperoni rolls, the ‘Burgh Bits & Bites tour includes the best of the area’s dishes, and explains its history and culinary traditions.

Starting at NYC’s City Hall, where many new arrivals officially begin their pursuit of the American Dream, this Tenements, Tales and Tastes tour showcases the city’s immigrant heritage via historic sights and tasty treats. You'll visit hundred-year-old bakeries, the bustling Essex Street Market, Lower East Side Tenement Museum, the African Burial Ground, Little Italy and lively Chinatown.

Explore The Mission neighbourhood with a local food expert on Edible Excursions’ Mission 24th Street tour. Historically where immigrants settled, this area serves some of the most varied and best food in the city. From tacos to tamales, cupcakes to challah, you’ll get a taste of what makes The Mission’s 24th Street corridor so unmissable. You'll spot some of the area’s celebrated murals en route too.

Chicano Park in San Diego’s oldest Mexican-American neighbourhood, Barrio Logan, is a feast for the eyes. The park is home to the largest concentration of Chicano murals in the world, with more than 80 paintings over seven acres. It’s also at the heart of an emerging arts district, surrounded by galleries, boutiques, brewpubs and craft coffee shops. Tick off all three highlights – food, drink and art – on a Taste Venture tour. Hungry for more? Read our guide to San Diego here.

Get the inside story about Detroit past, present and future from an on-the-ball, enthusiastic guide on a Seven Point Two tour. That’s the square mileage of downtown Detroit, an area packed with history, architecture old and new, and innovative modern ventures. These tours are billed as free but the passionate guides deserve a handsome tip.

With its prime lakeside location, sleek modern buildings alongside Victorian warehouses and revamped waterfront, Milwaukee is easy on the eye. Come summer, it’s heaving with festival-goers but out of high season you can join a relaxed tour through downtown. Wander along the multi-million dollar RiverWalk development, a city success story, and admire the sights from the water’s edge.

The more you look, the more you see. Put that principle into practice on the intensive Manhattan Architecture Photograph Tour. You’ll survey some of the world’s most photographed buildings and locations, including Times Square, Grand Central and the Chrysler Building, and learn from an expert photographer guide how best to capture these architectural gems. Twilight tour slots make the most of the sunset and the twinkling city lights. Read our full guide to New York here.

New Orleans isn’t short of walking tours – no surprise as there’s so much to see and such an array of influences to unpick. Le Monde Creole hosts noteworthy walks around the intoxicating French Quarter with access to beautiful gardens, courtyards and 19th-century homes, illuminating the lives of past generations of New Orleans locals. Read our full guide to New Orleans here.

Enjoy an in-depth introduction to the real Philly on this three-hour walking tour. South Philadelphia is home to the historic waterfront neighbourhood of Queen Village, authentic Philly cheesesteak and the country’s oldest open-air market. Browse the wooden stalls of the Italian Market which sell local cheese, chocolates and baked goods. Along the way, you'll also spot the beautiful mosaics of South Street and Isaiah Zagar’s unique mosaic artwork in Magic Gardens (pictured).

State capital Austin has an alternative vibe quite unlike the rest of Texas. It’s long been a draw for creative types and the network of city parks makes it hike and bike-friendly. If you’ve come for the music, like many visitors, join an Austin Music Heritage tour before you hit the bars and clubs downtown. You'll learn about the history of the legendary live music scene and be primed on the best places to go later. Read our guide to Austin here.

Skyscrapers may seem ten-a-penny these days but Chicago first set the trend. While today’s giants would dwarf the ten-storey Home Insurance building of 1884-1885 (since demolished), this modest construction clearly got something started. Put modern masters in context on the Chicago Architecture Foundation’s exemplary Chicago Modern tour. By the end, you'll be au fait with icons of both modernist and 21st-century architecture.

Home of Elvis, birthplace of blues, soul and rock’n’roll, BBQ heaven – Memphis has a lot to give. While you can’t help but soak up the atmosphere on a wander through downtown, a guided tour will enhance the experience. A tour around blues hub Beale Street is a good place to start. The tale of its turbulent history will give you a sharp insight into the city’s struggles and successes.

Kansas City’s riverfront River Market is a buzzing, 150-year-old neighbourhood with (you’ve guessed it) a top-class market and plenty of tempting places to eat. Steer your course with a River Market food tour, sampling the best the city has to offer. As well as incredible dishes, you'll hear about Wild West sagas and local history.

Eat your way around downtown LA on an Avital food tour. You’ll tuck into a four-course feast, with each course served at a different restaurant. Get the inside story from chefs and restaurant-owners, hear all about the neighbourhood and discover the very best of the local culinary scene.