In order to make Semantic Web tools more appealing to lay-users, a key factor is their Quality in Use, the quality of the user experience when interacting with them. To assess and motivate the improvement of the quality in use, it is necessary to have a quality model that guides its evaluation and facilitates comparability. The proposal is based on the international standard ISO/IEC 25010:2011 and focuses on Semantic Web exploration tools, those that make it possible for lay-users to browse and visualise it. The model is applied to compare the three main Semantic Web exploration tools that feature facets and the pivoting operation. The analysis assesses that the work being carried out with one of them, as part of a User-Centred Development process with iterative user evaluations, outperforms the other two tools.