Top Madrid Historical Tours

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.

Explore two historic cities in Spain, without the hassle of figuring out to get to between the cities and sites, with this small-group guided day trip from Madrid to Segovia and Avila. Discover key landmarks, including the Alcazar, Cathedral, and Aqueduct in Segovia, the Convent of Saint Teresa de Avila, and more, with a guide to provide informative commentary.

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.

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.

Discover the best that Madrid has to offer when you book this small-group walking tour. Walk at a leisurely pace and explore iconic landmarks like the ancient Egyptian Debod Temple and Plaza de Oriente which is flanked by the Royal Palace and Royal Opera House. While you explore, your bilingual guide provides insights into the rich history and culture of the Spanish capital.

Visit two of Spain’s most captivating medieval cities in a single day—without the hassle of navigating unreliable public transportation or booking admission tickets. This small-group tour from Madrid takes you to Segovia and Toledo, where your guide covers the key facts and local insights, all while you explore historic landmarks and cobblestoned streets.

Escape the crowds on this exclusive tour of the Prado before official opening hours. Enter the museum one hour before opening with just your group and an art historian guide. See Las Meninas, The Garden of Earthly Delights, Goya’s Black Paintings, and other icons of Spanish and European. Take time to enjoy not just the incredible art but the beautiful building itself in peace and quiet. Images created by Walks in partnership with the Museo Nacional del Prado

In Spain, culture and cuisine are inextricable, but knowing where to find the hot spots is tough if you're a first-timer. Experience Madrid’s historical and culinary highlights on a group walking tour of its most storied tapas bars—plus some top sights and hidden gems as well. Learn things about tapas culture you can only get from locals, and sample specialities washed down with Spanish wine, vermouth, and more. Add even more food and culture to your day with an upgrade to Botin, the world's oldest running restaurant.

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.

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.

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.

​​With limited time to explore Madrid, it can be tough to see all the top sights. This bicycle or e-bike tour is perfect for travelers hoping to see more in less time, letting you visit several of Madrid's most notable sights in under half a day. Just grab your helmet, hop on your bike, and let your guide lead you. Upgrade to add a tapas sampler and a drink.

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.

Discover the exciting and vibrant city of Madrid on-board a Hop on Hop off sightseeing bus tour. From the top deck of a double-decker bus, experience unrivalled 360-degree views of the city's most iconic sights and landmarks, including the Royal Palace, Biblioteca Nacional, Puerta de Alcalá and Cybele Palace. Take in Madrid's rich history and culture as you explore unmissable sights and attractions such as the Prado, Reina Sofia and Thyssen-Bornemisza museums, the Royal Botanic Gardens, Atocha Station, the Metrópolis Building and the Almudena Cathedral. 3 routes - Ride the Historic Route(Purple Route) through the historic parts of the city, the Modern Route (Blue Route) all the way to the iconic Santiago Bernabéu Stadium, and the Actual Route (Orange Route) will take you to Las Ventas Bullring.

The Royal Palace of Madrid is a popular attraction, so guarantee your spot on a date and time that suit your schedule with this tour and ticket package. Choose from a standard group tour or upgrade to a small-group tour for a more intimate experience. Once inside, follow a guide around the palace's highlights, with insightful commentary to help you learn about its regal history.

Immerse yourself in two UNESCO World Heritage–listed cities without worrying about train schedules or parking on this convenient day trip from Madrid. With your guide, savor ancient landmarks and fascinating cultural experiences—including a visit to a Toledo metalworker’s studio. Upgrade to bring your UNESCO-listed cities tally to three with a tour of Avila, famed for its medieval city walls.

Skip the crowded group tours and get more out of your time in Toledo with a private guide. Choose your preferred length of walking tour and visit the Toledo sights that interest you most. Follow a route chosen by your guide to see a mix of highlights and hidden gems or customize the route as you wish. Admission tickets to monuments are not included.

Visit the charming towns of Segovia and Ávila in one day, ideal for travelers with limited time. Discover each town via a guided walking tour, taking in highlights like Segovia’s aqueduct and cathedral and Ávila’s stone city walls and relics of Saint Teresa. The tour includes comfortable bus transport between both towns and to/from Madrid. Choose the option that includes a guided tour of the stunning 12th-century Alcazar of Segovia.

Learn the history of Madrid—hearing stories, facts, and insights from a local professional guide—on this comprehensive walking tour. Discover this fascinating city, its history, and its culture, as you visit highlights and landmarks including Puerta del Sol, Plaza de la Villa, Arab Wall, the Royal Palace, and Teatro Real, all in a few hours.

See the best of UNESCO–listed Toledo with ease on this sightseeing tour from Madrid. With free round-trip transport from central Madrid plus admission fees to key sites included, enjoy a blend of guided and independent exploration in Toledo. With your tourist wristband in place, gain admission to top attractions including the Monastery of San Juan de los Reyes, the Mosque of Cristo de la Luz, and more.

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.

Discover Madrid in a unique and exciting way with our tuktuks! If you are looking for an original and fun way to explore the vibrant capital of Spain, our tuktuk service is the perfect choice. Whether you want to enjoy a sightseeing tour of the city’s most iconic landmarks, such as the Royal Palace, the Plaza de Cibeles or the Salamanca Quarter, or simply looking for a comfortable and different means of transport to get around, we are here to offer you an unforgettable experience. Book your tuktuk now and let yourself go through the streets of Madrid in style and comfort.

Discover the grandiose Royal Palace of Madrid with special early access and a guided tour. For a glimpse of the palace at its most spectacular, arrive before the doors open to the public, then learn the secrets of the enormous palace, whose 2,800 rooms overflow with masterpiece artwork, period décor, and architectural detail. This Royal Palace tour includes skip-the-line early admission tickets to the Royal Palace.