The global ageing population presents a significant challenge and opportunity for cultural inclusion, demanding that museums extend beyond their physical boundaries to meet the needs of older adults who face diverse physical, cognitive, sensory, and technological barriers. In this context, Virtual Reality (VR) emerges as a transformative tool capable of democratising access to cultural heritage and mitigating social isolation. This paper explores the challenges of designing VR applications that promote inclusivity for a broad audience, with a particular emphasis on older individuals, who often encounter unique limitations. To address this complexity, this paper proposes an inclusive design framework structured around five critical dimensions: cognitive accessibility, sensory accessibility, physical accessibility, emotional inclusion, and technological inclusion. Specific strategies are detailed to overcome inherent challenges within each dimension, ranging from simplified narratives and calming environments to natural interactions and adaptable technology. The practical validity of this holistic, user-centred design framework is illustrated through a detailed case study: the “Torre de la Parada” museum application.