Heritage is under constant pressure to be adapted for tourism. The aim of this research was to improve the performance of both the tourism sector and the cultural heritage sector in a balanced and sustainable way, by considering the principles of conservation and preservation. Non-invasive tools such as ground penetrating radar (GPR), unmanned aerial vehicle (UAV), and even virtual reality (VR) and augmented reality (AR) technologies have been used to develop new methodologies, allowing us to generate new experiences and heritage tourist attractions, which not only do not generate negative impacts on the monuments themselves, but also promote their preservation without diminishing the cultural and tourist offers of the city. A case study was carried out on Mérida, a UNESCO World Heritage City, where tourism is a strong economic engine of the city. The results obtained are two-fold: on one hand, an effective interdisciplinary working methodology for heritage management was developed, and on the other hand, new approaches for the sustainable development of cultural tourism were generated.