Best time to visit Rajasthan is Mid Sep to March if you want to see fullest because its gives you relief from scorching heat in summers and humidity in rainy season. You can explore all the destinations freely .If you like summers you can visit but avoid May - July months.
Best time to plan your Rajasthan Tour is between October to February, as the weather is pleasant during that time. Otherwise you have to deal with scorching heat. https://www.tripoto.com/rajasthan/tour-packages