This full day tour offers a lot. It started in Rotterdam. The city was seriously damaged during the II World War and then rebuilt. This is why its architecture is quite different from traditional old Dutch cities. One may like it or not but it is worth to have a look. In Rotterdam we were also offered a lunch in a good restaurant (own expenses).
Delft, on the contrary, is a classic Dutch town with a nice cathedral. Most of the time in Delft, however, we spent in the Royal Blue Pottery factory which is quite impressive. Madurodam, a tiny "town" with replicas of the most famous Dutch buildings is excellent - highly recommended.
Unfortunately, we did not really see The Hague - just through the bus windows (with the exception of the Peace Palace from outside).
Overall, nice trip but maybe it will be better to limit it by two rather than three cities with more in-depth exploration of these two.