The Eastern part of Africa is one of the most favored regions for travelers. Uganda, Kenya, Tanzania, and Rwanda consistently top the list while others like the Democratic Republic of Congo, Burundi and South Sudan offer equally unique experiences for the curious explorer.
East Africa at large is a stunning tapestry of cultures, landscapes, and unforgettable safari experiences. From the breathtaking mountain gorillas and lush tropical forests to the mighty African Big Five, this region offers more than just safari drives. It’s also home to a string of lively cities that bring together rich history, vibrant cultures, and exciting adventures.
Whether you’re chasing the Swahili heritage of Mombasa, soaking in the nightlife of Kampala, relaxing by Entebbe’s lakefront, or treasure-hunting in Kigali’s artisan markets, East Africa’s cities offer something for every traveler. And if you’re journeying by a car with a rooftop tent, you’ll find the freedom to camp near scenic lakes (Entebbe), forests (Jinja), or national parks (Nairobi), turning every overnight into a wild, immersive experience.
Let’s take the wheel and hit the road through ten of the most vibrant cities to visit in East Africa during your self-drive adventure.
Tanzania
This is the largest of all countries and Tanzania is famous for game viewing adventures in the Serengeti National Park and Ngorongoro conservation area. The top cities to spice up your adventure during a self-drive Tanzania vacation include the following.
1. Arusha
Arusha is Nestled at the foot of Mount Meru in northern Tanzania and is a prime launchpad for a self-drive safari. With Serengeti, Ngorongoro Crater, and Mount Kilimanjaro all within driving range, this city is a haven for all kinds of travelers especially nature lovers. Set up camp with your rooftop tent near the foothills or a coffee plantation, and spend your days roaming lively local markets like the Maasai Market or visiting cultural heritage museums.
Arusha can also be a good location to start or end your adventure with easy access to international flights at the Arusha International Airport.
2. Dar es Salaam
A buzzing coastal hub, Dar es Salaam is more than just a transit stop to Zanzibar but also a colorful fusion of African, Arab, and Indian cultures. Drive your rental down to Coco Beach to mingle with locals or sample street food as the ocean breeze flows.
Nearby campgrounds and beachside spots are perfect for unwinding after a day exploring the city’s museums and Swahili cuisine hotspots.
3. Zanzibar City
Zanzibar is one of the most favorite destinations for weekend treats and romantic getaways. Hundreds visit her capital, the Zanzibar City and particularly its historic center, Stone Town. Once you’ve parked your 4×4 car rental, stroll through the spice-scented alleys, or take a dhow cruise at sunset. Many travelers with rooftop tents opt to explore the island coastlines, camping near secluded beaches under a sky full of stars.
Kenya
Kenya is yet another hub for travelers with her exciting wildlife, culture and vibrant cities. Here are the cities you shouldn’t miss during your self-drive vacation in the country.
4. Nairobi
Nairobi is the capital of Kenya and is renowned with its blend of urban excitement and wilderness like no other city in the region. Imagine camping with giraffes nearby at Nairobi National Park, or parking your 4×4 for the night at a lodge with city views. After wildlife drives, dive into Nairobi’s culture, you can explore the Karen Blixen Museum, galleries, or its famously vibrant nightlife. Nairobi is an essential pitstop on any East African road trip.
5. Mombasa
Down along the coast, Mombasa’s ancient Swahili roots and coastal charm make it a memorable stop for travelers. The city offers a blend of history, tropical beauty, and laid-back seaside vibes. You can drive through the Old Town with its narrow streets, visit the iconic Fort Jesus, or camp along the shores of Diani or Nyali Beach.
Uganda
Also referred to as the Pearl of Africa, there is a lot to see on a Uganda Self drive adventure in pursuit for its vibrant cities or other special travel purposes. Uganda has more than 7 cities to explore but Kampala, Jinja and Entebbe standout as the most favorite for travelers.
6. Kampala
Whenever you travel to Uganda make sure you don’t miss out a city tour through Kampala whether during day or night according to your preferences. Kampala’s dynamic cityscape sprawls across hills overlooking Lake Victoria. The city offers an energetic mix of culture and relaxation. You can explore attractions like the Kasubi Tombs, religious monuments, bustling craft markets, or local music joints. The nightlife is particularly rewarding after a day of driving as you can visit night clubs, pubs and discotheques among others.
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Jinja
Jinja can easily be described as the adventure capital of East Africa. Just an 80km drive from Kampala is enduring itself, more of scenic as you can explore the Sezibwa falls with its amazing Vulcanic features, the Griffin falls and Mabira Forest along the way.
Jinja is also an epic base for camping by the Nile. With your rooftop tent set up near the riverbanks, you’re well-placed for white-water rafting, bungee jumping, or just kicking back with a riverside cruise. It’s the perfect spot for thrill-seekers with wheels with its amazing water adventures.
8. Kigali – Rwanda
Also known as the land of a thousand hills, Rwanda is mostly famous for primates’ adventure, wildlife as well as culture and history that can be explored through its capital Kigali.
The capital’s hills and tidy streets make it one of the most pleasant cities to drive through in the region. The smooth roads and organized layout are ideal for self-drive visitors. From secure campsites to modern hotels, Kigali is both a cultural treasure and a practical overnight stop. Be sure to visit the Kigali Genocide Memorial and local art galleries to truly feel the pulse of the city.
9. Bujumbura – Burundi
Bujumbura, the capital of Burundi and the country itself are not known by many even within the East African region itself. However, this city offers a lot to explore. Resting on the edge of Lake Tanganyika, Bujumbura is an underrated gem for off-the-grid campers.
Saga Plage offers beautiful lakefront spots for rooftop tent travelers, while the nearby Rusizi National Park provides a chance to see wildlife right from your campsite. The blend of colonial history and natural serenity makes this city a peaceful yet enriching detour.
10. Goma – DR Congo
Lastly, we have Goma, located in the eastern Democratic Republic of Congo. While this incredible city is renowned for its dramatic landscapes and raw adventure opportunities, it is currently facing intense conflict and instability following the seizure of control by the M23 rebel group earlier this year.
For bold travelers, Goma has long served as the gateway to some of East Africa’s most untamed wonders—Virunga National Park, the mesmerizing trek to Nyiragongo’s fiery crater, and serene camping spots by Lake Kivu. Boat rides, gorilla tracking, and breathtaking volcanic views once made it a top choice for thrill-seekers.
However, due to the ongoing insecurity and travel restrictions, it is strongly advised to avoid the region at this time. Always consult up-to-date travel advisories and consider safer alternatives while planning your East African self-drive route.
In a meanwhile, each city in East Africa brings its own flavor to your self-drive journey, be it through music, street food, adventure, or history. Whether you’re waking up to birdsong near Lake Tanganyika or catching the sunset on a rooftop tent in the Serengeti’s shadow, this region promises a road trip unlike any other. Fire up that 4×4 car rental, roll out the rooftop tent, and explore the cities of East Africa.
