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From the cruise ports of Livorno and LaSpezia, we suggest the "Florence on your own" shore excursion transfer, usually around $79 per person, due to the difficulty in getting there on your own which requires two bus rides and a train each way.
Transfers usually drop you near Santa Croce church, where we begin our itinerary.
Don't visit Santa Croce unless you have time to spare and want to see elaborate tombs.
Head to Piazza della Signoria to see outside gallery and Palazzo Vecchio.
Go to Piazza del Duomo (or the square with the Duomo) Santa Maria de Fiore, and see outside of baptistry and church. Climb dome if you wish and have time.
Eat at La Mescita
Visit either the Pitti Palace or the Uffizi Gallery, depending on your tastes.
Shopping and General Tips
Eat Gelato (in this article, the one we recommend is the second gelateria discussed)
Who should take an organized shore excursion in Florence and why
General Florence gushing ;)
Mikey's Cruise Blog's Cruise3Sixty coverage
Our Florence port touring page
Our Florence Review