Places to visit from Jaipur
-Udaipur 3-4days are enough with lot to see and many food options
-Jodhpur 1-2days are enough
-Jaisalmer visit here for thar desert 2 full days are enough
Jaipur itself is good for 2-3 days.
In Ranthambore beside having morning safari you can visit offbeat place like Sirmathura for its waterfall and lake.
2 - 3 days are good enough for jaipur.
there's nahargarh fort , amber fort , jaigarh fort , hawa mahal , city palace , jantar mantar and jal mahal.
If you have a good budget then think about Hot air balloon safari ride in jaipur by skywaltz.
And go tiger spotting in ranthambore national park.
Places to visit in Jaipur for 2 days: http://www.jaipur-travel-guide.com/Jaipur-guide/jaipur-2-day-itinerary.html You can go to Jodhpur after Ranthambore or 2 days and do/see the following: Mehrangarh Fort. Umaid Bhawan Palace. Explore the abandoned Mandore Gardens. Jodhpur Stepwell. Clock tower and Sadar market. Jaswant Thada. Explore the blue houses of the blue city. Dine by candlelight with a view of the fort.
Jaipur one day for amer fort, nahargarh fort, jaigarh fort (Hire an auto for a day)
second day you can cover albert hall museum, city palace, jantar mantar, hawa mahal
from jaipur visit either jodhpur or jaisalmer.
jodhpur can be done in single day, jaisalmer requires at least two days.