On a regular basis I see questions about organized tours in and around Beijing.
CTRIP is offering more and more one day trips now a days, next to their multiple days trips. They already did this for some time for Chinese customers (that choice is still much bigger), but now also extending to foreign customers.
It is worth checking out their site, if you are looking for this. I have used it a few times my self (booked by a Chinese friend). No commission shopping, no obliged "follow the guide" thing and no tipping of the guide.
They are also offering airport pick-up and drop-off. Did not check out the conditions.
As with all these tours, if you are with multiple people it might be better to hire a guide yourself.