this is the place that we visited yesterday.

这是一个标准的定语从句,
先行词the place
从句：that we visited yesterday= we visited the place yesterday
【即that 在从句中作宾语,是可以省略的.】
这里是不是不能用which?
不可以用which
【先行词指物,在主句中作表语时．不能用which】
举例：
Is this the book that you borrowed in the library?
Hurry up!The writer ( has waited ) for us for a long time.(wait)