British museum is a must see. The National Gallery, if you like art museums is fantastic. Both free.
Westminster Abbey makes for a great 2-3 hours. And lots to see walking around the area.
St. Paul's cathedral is nice. We happened in when the choir was practising, so that was extra nice.
If you like taking walks, we went from Westminster Abbey, through St. Jame's Park to Buckingham Palace by foot. Very nice. Lots of pubs and cafes around the area to relax along the way.