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I would recommend to start your journey as per the sequence as they are all listed on the maps. As there's a lot more for you to explore in Rajasthan, I would suggest to finish the other cities first like Agra or Gwalior first.
Here's the best itinerary I can suggest. Start with Khajuraho. Spend a day as there's nothing much to explore if you're not really inclined towards archeological sites. Then take a bus to Gwalior which would take maximum of 6 hours by road. Reach Gwalior, explore as per your schedule and head towards Agra by road which would take 3 hours at max. Spend a day or two in Agra and start for Fatehpur Sikri. Buland darwaza and other attractions won't take more than a day and you could plan for Jaipur the next day by road as the distance is really short.
This is the city which would take maximum time of your trip as there's a lot more to see in Jaipur. Spend a few days as per your interests and take a train to Udaipur as bus is not a good option on this route. Reason is they would charge higher than that of a train and roam for 2 hours within the city for no reason. Train is the best option on this route and comfortable too. Takes max 7 hours to reach Udaipur by train. Reach Udaipur and explore the place until you head towards Chittorgarh which takes 2 hours by road from Udaipur. 1 day is enough in Chittorgarh as there's nothing much to explore apart from the mighty Chittorgarh fort. Finish your last leg of the journey by spending your time in Jodhpur and get back with good memories
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The best point for you to start from will be Agra. This is an ideal route you can take - Agra - Fatehpur Skiri - Jaipur - Chittorgarh - Udaipur - Jodhpur.
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My answer is dependent on an assumption that you would travel by trains or public transportation. I am talking about this sequence based on distance and trains running on these routes. I recommend starting from Rajasthan. You can start at Jodhpur, stay for a couple of days and then leave for Udaipur. Udaipur is well connected with Jodhpur through buses. Stay at Udaipur depends on what you want to see. If its a planned trip to visit the usual tourist places then it wont take more than two-three days there. On one of these days, you can take a cab/train to Chittorgarh because it is quite close and requires one whole day for exploration. Mount Abu is also quite close to Udaipur so you can use one more day to explore the hill station. you would need to travel in a local bus from Udaipur to Mt. Abu. Once you are done with Udaipur, you can leave for Jaipur. it will almost take 5-7 hours depending on your mode of transportation but the route is great. Buses run quite frequently. There are trains running between the two cities as well, so you can choose appropriate timings From Jaipur, you can get numerous buses and trains for Agra/Mathura. Once in Agra, you can explore the city and take one day out for Fatehpur Sikri, which is quite close. You can find autos and buses running to Fatehpur Sikri. After Agra, you can leave for Gwalior. There are abundant trains on running between Agra and Gwalior throughout the day so connectivity will not be an issue. Your last destination can be Khajuraho. Connectivity to Khajuraho directly by train or bus can be an issue from Gwalior so you can travel to Jhansi and then take a local bus to Khajuraho, which is approximately 4-6 hours away. Hope this is useful.
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