If sanctuaries and national parks are your focal point of interest, then the following itinerary will pack in the experience of Rajasthan, including the principal sanctuaries. Visits to areas of interest around each sanctuary are also built in.
 

Day 1: Plan to arrive, by road, at Sariska (accessible from Delhi and Jaipur) before lunch. Spend the afternoon and evening relaxing, and exploring the erstwhile hunting lodge, and surrounding areas.
Day 2: Early morning, visit the sanctuary by jeep or other motorised vehicles. In the morning, the wildlife is easier to spot, feeding or playing in groups. After breakfast, drive to Jaipur. After lunch, a city tour of Jaipur.
Day 3: By road to Sawai Madhopur, arriving before lunch. In the afternoon, drive into Ranthambhor National Park in jeeps, where the wildlife sightings at the lake may be supplemented by a tiger sighting at sunset.
Day 4: Another drive into the sanctuary, Following breakfast, leave for Bharatpur (with packed picnic lunches). Rest in the evening.
Day 5: Early morning visit to Keoladeo Ghana National Park, one of the best bird colonies in the world. After breakfast, leave for Agra, to see the Taj Mahal. From here, tour can continue, or end.