Unlike the Kyoto Imperial Palace, you can enter the outer grounds of the Tokyo Imperial Palace freely and travel along prescribed paths. There's a small museum on the grounds where you can see a rotating exhibition of art from the emperor's private collection, as well as a small concert hall. But the actual buildings and the areas around them are closed to the public (and hidden by stands of trees) except on New Year's or on the emperor's birthday. You can also see the walls and the moat from the outside.

It's a pleasant walk on a day with good weather, but I wouldn't bother with a guide.

Note that in neither case are we talking about anything like Versailles or the Hermitage. The buildings on the Kyoto tour, judging from the photo book, are tatami rooms with varying kinds of decoration.