8 of the Best Affordable Vacation Destinations to Explore

Vacations can be expensive, but so-called "cheap vacations" are within the grasp of budget-conscious travelers. I'm not talking about a staycation, though playing tourist in your own city can be a fun thing to do. Instead, I'm here to help you plan by listing some cheap vacation spots in the U.S., affordable vacation packages and tips on how to plan a cheap vacation.

There are a few steps you can take to help make your trip not only great but also easy on the wallet. Most importantly, be flexible. The biggest, most popular travel destinations tend to be the most expensive, so consider a wider range of destinations. Also consider when you travel, destinations don't always share the same months as peak travel seasons, so look for off seasons and shoulder seasons when hotel stays will be cheaper. Next, include free and cheap activities on your itinerary. Consider free days at museums and free city walking tours, and wander the destination on your own to see the sights. No matter your interests, these budget-friendly vacation destinations are recommended options that you and your family or travel companions will enjoy.

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Albuquerque, New Mexico, has plenty of free and cheap things to do making it a budget-friendly vacation destination. To get your fix of the outdoors, visit any of the several National Park Service sites near Albuquerque, including Petroglyph National Monument, which has free entry. Fish, walk and bike at Tingley Beach (fishing license required for ages 12 and older). In downtown, go on a self-guided walking tour of the murals or take the Albuquerque Historical Society's free guided walking tour on Saturday mornings (offered February through November) for an inexpensive way to learn more about the city.

Best time to visit: Shoulder season is November through December, and low season is January through April. Low season is also the ideal time to ski, and Sandia Peak Ski Area offers comparatively low-cost mountain passes, though you may choose to skip skiing altogether because most attractions in Albuquerque are open year-round.

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Boston is not only one of the best family vacation spots in the U.S., but it also can be a cheap vacation destination. Here, you can learn about and see sites prominent in early American history from the Boston Harbor where the Boston Tea Party took place to the Paul Revere House. You can walk the Freedom Trail and take the challenge at the end to walk up the 294 stairs of the Bunker Hill Monument. For a break from the historical sites, visit the Samuel Adams Brewery for a free tour.

Best time to visit: December through February is low season and when hotel rooms in Boston on average are the cheapest. If you are looking for milder temperatures, the shoulder seasons of March through April and November have smaller crowds than peak season, and you can still find some deals on hotels stays at this time.

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When you think of big cities, all the fun things to do in Indianapolis may not come to mind, but the urban area has plenty of amenities and activities, and it's a cheap vacation destination. There are several urban trails to enjoy like the Monon and the Canal Walk. The Stutz Car Museum, open Thursday through Sunday (except during private events), is free to enter and has classic cars on display. On an evening out, be sure to head to Monument Circle for the daily light show, "Shining a Light," which starts at dusk. Consider purchasing an Indy Attraction Pass to save on admission to many of the museums in Indianapolis.

Best time to visit: Low season is November through March (except holidays), but the weather is quite cold. Shoulder seasons are April to mid-May and September through October. During these times, the weather is milder than in winter, and hotel stays still tend to be cheaper than in summer or during race weeks.

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The City of Brotherly Love is an excellent place for history buffs to take a cheap vacation. Philadelphia hosted the First Continental Congress at Carpenter's Hall, which was also used as a field hospital during the Revolutionary War, and the city was the capital of the United States before Washington, D.C. You can visit the President's House, an open-air gallery on the site where George Washington and John Adams lived when they were president. You'll also find outdoor spaces; LOVE Park, a favorite photo op among visitors, and Fairmount Park are great for hiking and biking, while Smith Memorial Playground is a great spot for kids that features a giant wooden slide and a large playhouse amid playground equipment.

Best time to visit: If you don't mind cold, snowy weather, January and February are when you'll find the cheapest room rates, but for a better chance at enjoying the many outdoor attractions, Philadelphia's shoulder seasons — March through May and mid-September through December — tend to offer better temperatures, while still offering the chance to save compared to summer peak prices.

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St. Augustine was founded in 1565 and is the oldest, continuously settled city in the United States that today is a beautiful city with historic Spanish colonial architecture. Being on the northeast coast of Florida, one of the free things to do is spend time at the white sand beaches. Kids can enjoy an extra bit of fun at the splash park at the St. Johns County Ocean Pier. Don't miss learning more about the historic city at Governor's House Cultural Center and Museum that was once home to Spanish and English colonial governors. In the Historic District, stroll the pedestrian-only St. George Street to enjoy the architecture and window shopping.

Best time to visit: The best time to visit St. Augustine for hotel deals and the smallest crowds are August and September. It's still summer, so the weather will be hot and humid. But you'll also find the best deals on hotels and smaller crowds since the snowbirds have yet to return to Florida, and kids have started school. Keep an eye on the weather, as it's still hurricane season during these months.

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Skiing can be an expensive pastime, so skip the slopes and visit Salt Lake City in autumn for a cheap vacation that's easy on the wallet. You'll enjoy excellent temperatures, get to see some fall colors as the leaves change and have indoor activities for when you want a break from the outdoors. Save on admission to attractions with the Salt Lake Connect Attractions Pass with one- and two-day options; attractions include the Aerial Tram at Snowbird, the Clark Planetarium, Hogle Zoo and several museums. There are also plenty of opportunities to enjoy outdoor sports including hiking. For a bit of shopping — or browsing — stop by the Saturday farmer's market.

Best time to visit: Autumn months of September through October is the low season in Salt Lake City. During this time, you'll have the best chance of getting deals on hotel stays, and you'll still get to enjoy mild weather great for hikes and other outdoor activities.

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Savannah, Georgia has some of the oldest architecture in the American South, and as it's designed on a grid pattern, the easily navigable city is popular among vacationers. Plus, there are plenty of free and inexpensive things to do in Savannah making it a cheap vacation destination. The Savannah Botanical Gardens is free to the public as are the many squares in city parks within the city. There are plenty of hiking trails at places like Skidaway Island State Park for those who enjoy exploring the outdoors. And even if it doesn't fit in your budget to tour all the historic house museums like Juliette Gordon Low Birthplace Museum, one of several things you can do in Savannah without a car, it is free to walk the neighborhoods and enjoy the architecture.

Best time to visit: Summer and winter are shoulder seasons. Summer boasts outdoor activities, while Savannah's mild winter offers respite from the snow for those living in colder climates.

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Sedona is a great spot for those looking for outdoor adventures on their vacations (not to mention a great honeymoon destination). Sedona tends to be cheaper than nearby Phoenix and has milder temperatures than Phoenix and Flagstaff. Sedona is famous for its red rock formations, so plan a hike to see these impressive geological features up close. You'll need to purchase a day pass ($5) or week pass ($15) to enjoy much of the Red Rocks Ranger District, but the charge is per vehicle so everyone in your vehicle is covered with a single pass. Sedona also offers opportunities to view art and window shop at spots like Tlaquepaque Arts & Shopping Village.

Best time to visit: Winter is the best time to visit to experience the smallest and best hotel rates. Sedona has a mild winter with highs in the 60s and lows in the 30s in degrees Fahrenheit.

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AAA Vacations® offers a wide array of vacation packages to choose from. At first glance, you might think that there are not budget-friendly options, but look again. There are cheap vacation packages and added savings for AAA members with benefits like credits for excursions on select packages. Vacation packages are typically guided, though you'll find some self-guided options. These curated trips are intended to be hassle free and include accommodations, travel to cities, tours and some meals. They typically have options for additional excursions for an extra cost, but budget-minded travelers can plan ahead for cheap or free things to do if the excursions don't fit into the vacation budget. Also consider airfare when you are planning; packages do not include the cost of your flight.

Days: 9

Price: starts at $1,732

Itinerary: Dublin, Cork, Cobh, Killarney, Ring of Kerry, Cliffs of Moher, Shannon

On the Ireland's Sights & Sounds trip you'll be escorted by local hosts through Dublin and scenic areas of Ireland. On this trip, you'll enjoy a food tour through Dublin, learn a bit of Irish history, see the stunning Ring of Kerry area and visit the Cliffs of Moher. Your travel through Ireland will be on rail or by private car with a driver.

Days: 9

Price: $1,799

Itinerary: San Jose, Arenal, Cano Negro, Lake Arenal Cruise, Monteverde, Guanacaste

On the Tropical Costa Rica trip, you'll enjoy a blend of relaxation and outdoor adventure. You can spend your first evening relaxing in geothermal pools — a welcome moment to destress after a long day of travel. From there you'll go on a riverboat journey where you can spot indigenous animals including sloths, river otters and monkeys. You'll also travel to the Cloud Forest where you'll enjoy the beautiful plant life of tropical Costa Rica.

Days: 10

Price: starts at $1,999

Itinerary: Lisbon, Evora, Lagos, Silves, Setúbal, Cascais, Obidos, Sintra

The Sunny Portugal trip will take you to many beautiful spots in the country where you'll see structures ranging from a Moorish castle to sites that date back to when the Roman Empire stretched across Europe and spend time at Cabo de Roca, cliffs that mark the westernmost point of continental Europe. This package blends guided excursions with solo days where you'll get to experience cities on your own.

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You may only have a small budget for vacation, or perhaps you want to plan a few cheap vacations instead of a single expensive one. Whatever your budget, there are things to do to ease to make travel more affordable. I'll discuss everything from being flexible with trip times and locations to saving money on vacation with some planning and deals, including exclusive savings and benefits with your AAA membership.

Sometimes planning cheap vacations means forgoing travel to the most popular cities or traveling at the most popular travel times. While at first you might think this means you are missing out, it doesn't necessarily. Travel during shoulder season, the parts of the year between peak and offseason, is usually more affordable. Also, the weather is typically nice, and the crowds are smaller.

Also, if you can, be open to going on vacation on short notice. If you keep an eye out, you can sometimes find excellent last-minute deals on airfare or hotel rooms — like AAA Hot Deals. If you are flexible with where and when you go, this can sometimes be a huge cost-saving measure.

As a AAA member, you can get exclusive member savings and benefits on hotel rooms, cruise fare, vacation packages and more. Save up to 10% with AAA preferred hotels. Also only members can take advantage of AAA Hot Deals, aka specials on hotel room rates. You get exclusive benefits on select cruise bookings with AAA, as well as benefits, like credits towards excursions, on select vacation packages and tours with AAA Vacations. Also don't miss out on car rental savings. Your AAA membership entitles you to up to 20% off base rates on car rentals with Hertz, 15% with Dollar and 10% at Thrifty.

Remember to consider booking travel with a AAA Travel Agent as well. You can book your vacation for no additional cost, and you get additional perks. Travel agents can help you plan and ensure that you get all the savings and benefits that come with your membership.

Look for attraction passes when planning your vacation on a budget. Salt Lake City not only has an attraction pass but also a brewery pass. CityPASS offers deals in several cities in the U.S., like the Atlanta CityPass, Houston CityPASS, and New York CityPASS. (The Go City's attraction pass for Boston saved my family when we went to Boston.)

These kinds of attraction passes aren't limited to the U.S. either. The Berlin WelcomeCard offers discounts on attractions in Berlin, Germany, and includes public transit for the validity period of the ticket. Switzerland has the Swiss Travel Pass that includes all travel on trains, busses and boats in many cities, entrance to hundreds of museums and discounts on mountain excursions. And Paris has The Paris Pass that can save you on many of the city's top attractions such as the Louvre Museum. No matter where you plan to travel, look for these bundle deals to see if they work for you and will save you money on your next trip.

Check out the free attractions in places and look for free days at museums. Many museums offer free or discount admission one day a month or one evening a week. Often during these times museums are crowded, but it can be an excellent cost-saving measure at pricier museums.

Also, many cities have free walking tours. Of course, you should tip at the end of the tour if you can afford it, but these walking tours are often 60 to 90 minutes and hosted by locals. Sometimes they were started by someone with a love of their city and an entrepreneurial spirit, and sometimes they are put on by a historical society. Either way, you'll usually have an enthusiastic guide who will teach you about the city you are visiting and will almost certainly give out tips on where to eat and what to do.

If you want to book a budget-friendly cruise, your best chance at a deal is during wave season — mid-January to mid-March. This time of year is when cruise lines offer the most deals and discounts on cruise fares.

Excluding last minute deals, book about four months ahead of domestic travel and six months ahead of international travel for the best prices on hotels and airfares. Typically room rates and airfare will increase as your travel dates approach.

If you are traveling to Europe, consider staying in hostels for at least part of your stay. You'll give up on amenities, but you can find hostels in city centers for cheaper than a hotel stay. While you might think a hostel is only for early 20-somethings renting a bed in a shared room, many hostels have private rooms with bathrooms. On my last trip to Europe, I stayed in a mix of hostels and hotels saving me hundreds on room nights.

You can also consider camping. There are different types of camping, so if you aren't interested in roughing it, try out frontcountry camping. You can rent a plot with power hookups in campgrounds with comfort stations that have showers and bathrooms. It's not for everyone or perhaps every vacation, but campsites are a cheap option and can be a fun, budget-friendly option.

Luckily, there are plenty of tips and best practices if you're considering a vacation, but you're on a budget! You might have to do a little extra planning, but there are affordable locations and travel deals that will allow you to enjoy a fabulous, budget-friendly vacation.