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. 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. Although its London palace tours are only offered for a limited period during the summer each year, you can still attend a tour that focuses on the Changing of the Guard.

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). 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.

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, you can book a sightseeing tour that stops right outside.

It’s easy to forget that the Tower of London is technically a palace. More commonly associated with its history of grisly executions, 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. 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).

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.

No other royal residence is as closely associated with King Henry VIII as the 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. The palace was considered the English answer to Versailles in its day, and is instantly recognizable for its red-brick facade. 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 gardens.

Anne Boleyn, the second of Henry’s six wives and the mother of Elizabeth I, 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.