Can I travel without visa (SFO -> Qingdao -> Beijing -> New Delhi)

can I travel without visa?

We are a family of 4 united states citizens.

My itinerary SFO -> Qingdao June 12 (transit stop 2 hours 20 min only, not planning to leave airport) -> Beijing June 12 (tourist for less than 72 hours) -> New Delhi June 15.

I will be in Beijing for around 68 hours and plan to leave the airport and see the city and great wall. Do I need a visa?

thanks,
S