The Yeoman Warden ("Beefeater") guide we had was h...

The Yeoman Warden ("Beefeater") guide we had was hilarious and very knowledgeable. Recommend doing the guided tour. It doesn't take you everywhere around the Tower and only lasts about 30 minutes, but gives you background historical information and points out all the different areas of the Tower for you to explore on your own. Can be quite crowded, especially the line to see the Crown Jewels.