Top Madrid Historical Tours

Instead of guessing where to eat and what to order in Madrid, join this guided walking tour to combine food, wine, and history in one experience. Stroll through lively streets and landmarks such as Plaza Mayor while sampling tapas, local wines, and traditional vermouth. Along the way, learn insider tips—including which tourist traps to avoid—so you can navigate the city like a local long after the tour ends.

Madrid Tapas Wine and History Tour

3 hoursFree Cancellation

Prado Museum Small Group Tour with Skip the Line Ticket

1 hour 30 minutesFree Cancellation

Discover Madrid at your own pace with flexible hop-on hop-off bus tickets that showcase the Spanish capital's history, architecture, and culture. Travel between landmarks such as the Royal Palace, Prado Museum, Plaza de España, and Puerta de Alcalá while listening to onboard commentary that puts landmarks into context. With access to three different sightseeing routes, it's an easy and convenient way to explore the city.

Big Bus Madrid Hop on Hop off Tour

1 hour 20 minutesFree Cancellation

Madrid Royal Palace and Prado Museum Private Tour with Transfers

4 hoursFree Cancellation

This tour is ideal for time-tight travelers interested in religious sights and historic monuments. Avoid the hassle of organizing car rental, and instead, travel between locations with ease in a luxury bus with air-conditioning, Wi-Fi, and a guide. Explore a UNESCO World Heritage Site—the Royal Site of San Lorenzo de El Escorial (El Escorial)—and visit the Valley of Cuelgamuros (Valley of the Fallen) monument and Catholic basilica.

Escorial Monastery and the Valley of the Fallen Tour from Madrid

5 hoursFree Cancellation

Madrid Tapas & Taverns Small Group Food & History Tour

3 hours to 3 hours 30 minutesFree Cancellation

This is an exclusive small-group tour (maximum 6 guests) led by a highly trained local expert in art, history and Spanish culture. This is not a rushed or generic visit, but a carefully designed experience focused on meaningful works and genuine insight. In a relaxed setting, you’ll have space to ask questions and engage in thoughtful discussion. Your guide will connect each masterpiece to Spain’s history, politics, religion, and society, offering deeper cultural context. Discover iconic works by Velázquez, Goya, Bosch, Rubens, El Greco, and Titian, while uncovering hidden details and stories that most visitors miss. This tour is available in 4 Languages: English, Spanish, French, and Italian.

Prado Museum Exclusive Tour with Skip-the-line (Max 6 people)

Prado Museum Exclusive Tour with Skip-the-line (Max 6 people)

2 hoursFree Cancellation

Experience the grandeur and opulence of Madrid’s Royal Palace on our exclusive guided excursion. Our expert guides will take you on a fascinating journey through the history and architecture of this magnificent building, which served as the official residence of the Spanish monarchs until the early 20th century. With skip-the-line access, you’ll be able to bypass the crowds and step inside the palace’s sumptuous halls and chambers, where you’ll marvel at the stunning artworks, tapestries, and furnishings that decorate every room. Discover the stories and secrets behind each piece, from the impressive throne room to the private quarters of the royal family. Don’t miss the chance to see the breathtaking views of Madrid from the palace’s stunning rooftop terrace. With our intimate and informative guided tour, you’ll gain a deeper appreciation for the role of the Royal Palace in Spanish history and culture.

Royal Palace of Madrid Skip the Line Guided Tour

2 hoursFree Cancellation

Leave the hustle and bustle of Madrid behind for a day and discover the rich historic legacies of Toledo, Segovia and Avila. Leave the planning and organization up to your guide, as you enjoy included entry fees (if selected), guided tours, and round-trip transportation. Well-suited for travelers who can't easily reach these destinations by themselves but wish to get a taste of the Castilla-La Mancha and Castilla y León regions.

Toledo, Segovia and Avila from Madrid with Tickets and Lunch

13 hoursFree Cancellation

Join us for a guided tour of Madrid’s world-renowned Prado Museum and one of the largest Royal Palaces in Europe. You can choose between one of the two tours, or both in the same day or separate days. The Prado Museum is home to one of the most extraordinary collections of European art. Led by an expert Prado guide, this experience offers a deeper understanding of iconic works by Velázquez, Goya, El Greco, Rubens, and many more. The Royal Palace, famous for its astonishing throne and porcelain rooms, is the largest functioning Royal Palace in Europe, home to the Spanish Royal family and filled with incredible Rococo decorations. Perfect for both art lovers and first-time visitors, this tour is designed to be engaging, insightful, and unforgettable.

Prado or Royal Palace with Official Museum Guide

3 hoursFree Cancellation

The magnificent Royal Palace of Madrid is one of the King of Spain’s official residences and one of the city’s most popular attractions. On this skip-the-line experience, avoid the ticket purchase lines, which can be lengthy, and gain extra insight into the Spanish royal family on a guided tour. Upgrade to add a tapas tasting, which you enjoy independently, or a tour of the Royal Collections Gallery with your guide.

Madrid: Royal Palace Expert Guided Tour with Optional Tapas

Madrid: Royal Palace Expert Guided Tour with Optional Tapas

2 hours 5 minutesFree Cancellation

Discover MORE MADRID IN LESS TIME comfortably, ecologically and exclusively aboard an electric tuk-tuk with expert guidance. Ideal for first-time visitors or those who want to rediscover the city, this tour offers a panoramic experience of the best of Madrid. Explore the capital from the historic Madrid of the Austrias, with the Royal Palace, the Almudena Cathedral and the ancient Muslim Wall, to the heart of the village, where the Plaza Mayor, San Miguel Market and its iconic neighborhoods vibrate. Let yourself be captivated by the elegance of the Prado Museum, the Fountain of Cibeles, the Alcala Gate and the Retreat, merging with the modernity of the Santiago Bernabeu Stadium and the Bullring, until you reach the serenity of the Temple of Debod and the Madrid Rio area. Enjoy local recommendations, learn curious facts and capture unforgettable photos as you explore iconic streets, historic squares and hidden gems. BOOK NOW and experience Madrid like never before!

More Madrid in less time: Tour in Tuk Tuk Electric

1 to 4 hoursFree Cancellation

Avila and Segovia are two of Spain’s oldest cities, dating back to the 11th century and 700 BC respectively. Explore them both in depth on a full-day guided tour from Madrid in which you will learn about the various religious and cultural influences on each. Marvel at impressive Roman, Medieval, Moorish and gothic architecture and the regal interiors of Catholic cathedrals and ornate castles.

Avila & Segovia Tour with Tickets to Monuments from Madrid

9 hoursFree Cancellation

Toledo Private Tour with Licensed Local Guide

3 to 8 hoursFree Cancellation

"Madrid: Panoramic views in Tuk Tuk with pickup available"

1 to 8 hoursFree Cancellation

Madrid City Tour – Hop On Hop Off Bus

1 hour 10 minutes to 1 hour 25 minutesFree Cancellation

Step into a space where Picasso's 'Guernica' tells a powerful story, Dalí's surrealism sparks your imagination, and Miró's creativity inspires your own journey. With over 21,000 works on display, including photography, film, sound, and dance, every path leads to new discoveries and fresh perspectives. Wander through galleries highlighting Cubism, Surrealism, and other influential art movements, and admire the museum's striking architecture and beautiful courtyards. Be sure to check out the museum's temporary exhibitions, which often feature cutting-edge contemporary artists. Your flexible ticket grants you all-day access, allowing you to explore this treasure trove of modern and contemporary art at your own pace. Enhancing your journey is an insightful audio tour that provides expert context for the museum's most significant works.

Madrid Reina Sofia Museum Flex Entry Ticket with Audio Guide

1 hour 30 minutes to 2 hours

Discover Madrid’s Royal Palace on a small-group tour with skip-the-line entry, so you get more time inside and less waiting outside. Begin this walking tour with an introduction to some of Madrid’s other top sites, including Plaza Mayor and Mercado San Miguel. Then, continue to the Royal Palace, where you get a headset so you can hear your tour clearly. Learn about the palace’s beautiful architecture and interesting history.

Royal Palace of Madrid Small Group Skip the Line Ticket

2 hours 10 minutesFree Cancellation

Known to some as the city of three cultures—because of its Muslim, Christian, and Jewish heritage—Toledo is a stunning medieval city that's an easy day trip from Madrid. Take a trip to this UNESCO World Heritage Site with this guided group tour, complete with round-trip Madrid transportation. After easy coach travel, enjoy sights like the old city walls, 12th-century synagogue, and Primate Cathedral (Catedral Primada)—all included.

Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church

8 hoursFree Cancellation

Avila and Salamanca : Magic and Small Group History from Madrid

10 hoursFree Cancellation

Benefit from visiting Toledo with your own private guide and driver for the ultimate full-day tour from Madrid to the former capital of Spain. Ride in a luxury vehicle for one hour to reach Toledo, where your guide provides a customized tour of the historical city’s most important museums and monuments (admission is not included). Choose from several options for your tour and free time; hotel pickup and drop-off are included.

Toledo Private Tour with Licensed Guide and Driver from Madrid

5 to 8 hoursFree Cancellation

Discover two of central Spain’s most remarkable historic cities on a full-day small-group tour from Madrid. Begin in Segovia, where the iconic Roman Aqueduct and medieval streets reveal centuries of history, before visiting the Alcázar, one of Spain’s most recognizable fortress-palaces. In the afternoon, continue to Toledo, a UNESCO World Heritage city shaped by Christian, Jewish, and Muslim influences. After enjoying panoramic views from the Mirador del Valle, explore the historic center and visit the Primatial Cathedral, one of Spain’s most important Gothic monuments. Throughout the day, your guide brings the history, culture, and traditions of these remarkable cities to life. - Small-group tour for a more personal and comfortable experience - Discover Segovia’s Roman Aqueduct, old town, and Alcázar - Enjoy panoramic views of Toledo from the Mirador del Valle - Explore Toledo’s historic center and visit the Primatial Cathedral - Travel with an expert guide throughout the experience

Segovia & Toledo Small Group Tour with Hotel Pick up from Madrid

Segovia & Toledo Small Group Tour with Hotel Pick up from Madrid

10 hoursFree Cancellation

Madrid: 3 hour Guided Highlights Bike Tour with Optional Tapas

3 hoursFree Cancellation

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Must-Dos in Madrid

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What are people saying about Madrid

Madrid Tapas & Taverns Small Group Food & History Tour

Nick_G, Sep 2026

Perfect Food Tour

We had an outstanding food tour experience in Madrid with Botín, made even better by our wonderful guide, Cassie. From the moment the tour began, she made us feel welcomed, comfortable, and genuinely excited to explore the city through its food, history, and culture. Cassie was knowledgeable, personable, and incredibly engaging. She did not just point out places to eat, she brought Madrid to life with fascinating stories, local context, and thoughtful recommendations. Every stop felt carefully selected, and the food was delicious, authentic, and a great reflection of the city’s culinary character. The visit connected to Botín was a real highlight. Experiencing a place with so much history while learning more about Madrid’s traditions made the tour feel special rather than just another meal or sightseeing activity. Cassie paced everything perfectly, answered every question, and made sure we were having a great time. If you are visiting Madrid and want a memorable way to experience the city beyond the usual tourist stops, I cannot recommend this tour, and especially Cassie, highly enough.

Prado Museum Private Tour in Madrid

Neil_C, Sep 2026

The Prado is, of course,...

The Prado is, of course, one of the world's greatest treasures. Our superlative guides, Almudena, helped us navigate our way through it in a logical way, experience its wonders, and understand the importance of its major pieces. She adapted to our interests and pace, and we never felt rushed.

Madrid Night Walking Tour: Spanish Inquisition & Old City Legends

Erin_M, Sep 2026

Ghostly Guide

Our tour got off to an unexpectedly spooky start when the scheduled guide simply didn’t show up, leaving us waiting well past the start time. Given that this was a ghost tour, we did wonder whether perhaps they were the ghost. After a call to the provider, María came to the rescue and the tour got underway. We really appreciated her humour, storytelling and everything she added to the experience. A fun, worthwhile and suitably spooky way to explore Madrid after dark.

Madrid Tapas Wine and History Tour

Jessica_B, Aug 2026

Borja is the best

What a great tour. Took us to all good spots and got to try a lot of Spanish food and drinks while getting history also. Borja was super nice and you could tell he loves what he does. He was just smiling the whole time and was a great vibe.Also one person didn’t drink on the tour and he made sure to accommodate them.

Ribera del Duero Wineries Guided Tour & Wine Tasting from Madrid

Reagan_P, Jun 2026

We had a great time on...

We had a great time on the tour! Ismael was informative, patient, kind guide! I so enjoyed all the different wineries - It was three very different vibes at each winery which was so nice to have in a short trip to a region. I would do it again and again! We went with a group of couples and a solo traveler and had the BEST time. Tasted amazing and unique wines and learned about some unique history and wine making techniques!

Madrid Tapas tour - 16+ tastings, Spanish wine and local bars

Michelle_B, Jun 2026

A Tour for full hearts & empty stomachs

This is a fantastic tour for foodies. Our guide Brian was knowledgeable and generous in sharing his knowledge of the food culture & history of Madrid We went to some great local establishments and sampled a variety of tapas with recommended drinks to accompany them We now feel well versed in the varieties of ham in Spain! Highly recommend

Royal Palace of Madrid Early Entrance Tour Skip-The-Line Ticket

JAMES_C, Jun 2026

A must see in Madrid.

Our guide Mariana was super knowledgeable & efficient in getting us through this incredible palace. This tour gets you past the masses entering on their own, so for that fact alone, I highly recommend it. You can’t come to Madrid without seeing this unbelievably beautiful palace.

Tour from Madrid to Cuenca and the Enchanted City

melissa_g, Mar 2026

Unforgettable experience!

Our day started with a beautiful views with the OUTSTANDING guidance of Sergi! He explained the history of the Enchanted City with passion and precision. I liked how we got to experience the whole place. Then we had an authentic lunch in Cuenca and got to get to see the charming city and the spectacular views. It was an all day adventure that we will never forget!

Avila with Walls and Segovia with Alcazar from Madrid

Diana_U, Nov 2025

Wonderful, Informative Tour!

What a wonderful tour! Our guide led us through Segovia and discussed its historical significance. Touching the huge stones of the Roman aqueduct was very moving - to think they've been standing for 2,000+ years! We then had lunch and enjoyed the bean soup, but the suckling pig, although a delicacy in Spain, was not for us. Afterward, we went on to Ávila, where our guide explained the significance of the town and of St. Teresa. We thoroughly enjoyed the day! Highly recommend this!

Madrid: Royal Palace Expert Guided Tour with Optional Tapas

Naomi_R, Oct 2025

Great tour!! Great tour guide!

Our tour of the Royal Palace of Madrid was excellent. Our tour guide was friendly and very engaged with the group. He offered great information about the Palace, the building, the history and the royal family. He did a great job navigating through the 24 rooms and keeping the group together. Excellent!

Avila & Segovia Full Day Tour from Madrid

Alison_S, Oct 2025

Great day tour option from Madrid

Really enjoyed this full day tour . Our guide Angie was fantastic, very knowledgeable and made both the bus rides and the walking tours really interesting . There was enough time to wander and take photos in both locations as well . We added the Alcaraz tour option , which was well worth it - a stunning castle inside & out , beautiful views . Would highly recommend this tour out of Madrid .