Will be going to India in March and will visit Delhi, Jaipur, Agra, and Udaipur. Planned on staying for 3 nights in each area except for Agra where we will stay for 1 night only. I realized that I have an extra day. Where should I spend it? Delhi, Udaipur, or Jaipur.

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If you are including the day you get in and the day you leave in Delhi then it may not be 3 complete days and I would add the extra day to Delhi. One other option is you reduce a day from either Jaipur or Udaipur and add Ranthambore - chances of seeing tigers in March are quite high. We saw 5 on 2 different game rides in April.

I concur with Hobbes. Delhi would be good for an extra day just for the shopping alone. It is better there than any of your other destinations. When we went, we chose to do Ranthambore rather than Udaipur which is kind of out of the way. You need 2 nights at Ranthambore to get in 3 or 4 game drives.

Thanks for the info.

Any other suggestions?

I do not know if you have considered Fathekpur Sikri, which is not far from Agra and it is an amazing ghost city.
You can visit it from Agra, as a day trip.

We made a similar trip, but we had also Khajurao and Varanasi.

I would suggest you Khajurao: you can travel from Jaipur to Agra and from Agra to Khajurao. It is famous for its temples (big, old, more than 40) with erotic statues.