Some parts of the colleges have been open to visitors in the past but many areas have been largely hidden from public view.
Now St John's, Gonville and Caius, Newnham, Queens and Trinity Hall will all feature on an online map.
The photographed behind the scenes images give a 360 degree view into buildings like Great St Mary's, the university church and the part-14th century chapel at Gonville and Caius, the oldest purpose-built college chapel still in use in Cambridge.
Professor Sir Alan Fersht, Master of Caius, said: "Gonville and Caius is one of the oldest colleges in Cambridge, and the exteriors of our beautiful Old Courts are not only open daily for visitors to admire but can already be seen on Google.
"However, as a working community of education and research, we cannot easily welcome visitors to our magnificent library and hall, which are used daily by those who live and work here.
"The new panoramic interior 'tours' allow anyone virtually to explore the previously hidden beauty of some of Caius's finest architectural gems, and perhaps be inspired to visit this historic college in person.
"From its earliest days, Caius has been a place of modern learning and forward-looking ideas, and opening the college up via technology absolutely fits that tradition."
In 2015, the special Streetview team visited Cambridge to capture the photos using special cameras.
These images form part of a group featuring historically and culturally important sites, including museums, art galleries, national parks, monuments and landmark buildings such as the Taj Mahal and the White House.