Top Madrid Private Sightseeing Tours

(3,355)

from $23

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

1 to 8 hoursFree Cancellation

Exploring Madrid with a local guide is the best way to get to know the city’s character. Stay away from the tourist attractions—it’s easy enough to visit those on your own—and instead visit hip neighborhoods, local-favorite tapas bars, and artisan shopping districts that are still under the radar. This private tour is with just you and your guide so you can customize every aspect of your experience.

(46)

from $58

Per group

Madrid Icons & Hidden Gems: Private Custom Tour with a Local

Madrid Icons & Hidden Gems: Private Custom Tour with a Local

2 to 8 hoursFree Cancellation

(104)

from $66

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

Toledo Private Tour with Licensed Guide and Driver from Madrid

5 to 8 hoursFree Cancellation

5.0

(684)

from $367

Ride with a local English Speaking Driver and explore the most iconic monuments of Madrid! Your personal driver will not only share historical facts about the areas visited but also local insights that will help you get the feeling of the city’s lifestyle today. Explore the neighborhoods and landmarks in Madrid like a local. Experience this spectacular city from the comfort of your very own private air-conditioned car. As the tour is completely customizable, you can add and take points away from the following suggested itinerary. Our drivers are not licensed guides but are very knowledgeable of the places visited and will provide all the necessary historical information. During the stops you can do whatever you want: visit the landmarks, take pictures, ask your driver about the place and get benefit from his local knowledge Visit, Puerta del Sol, Palacio Real, Calle Gran Via, taste tapas, Wander inside the Retiro Park and many many more!

Private Half-Day Sightseeing in Madrid

4 hoursFree Cancellation

(11)

from $177

Get to know all of Madrid in one day through this VIP and private tour of all the most relevant monuments of the city. Totally exclusive. Discover with the best Official Guides of the city of Madrid, the treasures and secrets that the largest Royal Palace in Western Europe houses in a totally VIP, private and exclusive visit. With preferential tickets, without waiting in lines. You will be picked up by private transport from your hotel by your guide who will take you by private car to the main monuments of 18th century Madrid and the Passage of Light, declared a World Heritage Site by UNESCO. Afterwards, you will take a walk with your guide to the monuments, corners, treasures and secrets of ancient Madrid and will receive practical information for your stay in the city of Madrid. After taking this tour you will have completed a fascinating and enriching experience in the city of Madrid in one day and you will have seen all the most emblematic places.

View of the Royal Palace from the Sabattini Gardens

Private VIP tour Royal Palace and city tour. All of Madrid in one day

3 hoursFree Cancellation

(69)

from $278

Visit Segovia, Ávila, and Toledo—three cities that are UNESCO World Heritage Sites—on a full-day tour from Madrid that features ancient battlements, a soaring cathedral, a historic monastery, and more. Coordinated tours and transport make the most of your travel time so you can cover more ground without rushing to catch trains or find buses; traveling with a guide takes you straight to the three cities’ essential sights.

Three Cities in One Day: Segovia, Avila and Toledo from Madrid

Three Cities in One Day: Segovia, Avila and Toledo from Madrid

12 hoursFree Cancellation

Toledo Private Tour with Licensed Local Guide

(10,572)

from $106

3 to 8 hoursFree Cancellation

5.0

(976)

from $260

Per group

Madrid Old City Guided Exclusive Guided Walking Tour

2 hours 30 minutesFree Cancellation

5.0

(619)

from $53

Prado Museum Small Group Tour with Skip the Line Ticket

Our founder Fernando at the Meeting point. Down there you will see your guide 5 minutes before the tour.

1 hour 30 minutesFree Cancellation

(1,893)

from $53

Take in unique views of Madrid without getting tired legs with this private tuk-tuk tour. Sit comfortably on padded seats and enjoy protection from the sun with a roof-covering, as your driver takes you around the city. Take in highlights including the Cibeles Fountain, Puerta de Alcala, Santiago Bernabeu Stadium, and more. Ideal for travelers with limited time in Madrid who want to do as much sightseeing as possible.

Madrid: Tuk Tuk Greatest Panoramic Tour + LOCAL GUIDE + PICK UP

2 hoursFree Cancellation

(108)

from $22

Discover Madrid’s vibrant culinary scene with the help of a local guide on this tapas tasting tour. See the city through the eyes of a local and sample authentic dishes at a range of popular bars, with a drink in each one. Treat your palate to Spanish wines, sherries, and more, complemented by things like Iberian ham, salted cod, and chickpea stew. To keep this experience intimate, group size is limited to 12 people.

Several tapas bars on the walking route feature Spanish wines and classic dishes.

Madrid Tapas & Wine Tasting Food Tour – Small Group Local Bars

3 hoursFree Cancellation

(4,792)

from $93

Madrid Private Food Walking Tour with 6 or 10 Tastings

3 hoursFree Cancellation

4.5

(242)

from $102

Let someone else plan the perfect Madrid itinerary when you book this half- or full-day customized walking tour of the Spanish capital. Inform your guide of your interests prior to your tour, then enjoy a customized itinerary that promises to satisfy all cultural cravings. Enjoy pre-planned logistics as you discover significant sights such as the Prado Museum and the Royal Palace of Madrid while listening to commentary tailored to your interests.

Likely to Sell Out

Your Best Day in Madrid - Private Custom Tour

3 to 7 hoursFree Cancellation

(32)

from $244

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

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.

(3,012)

from $73

From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets

From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets

11 hoursFree Cancellation

4.6

(5,364)

from $45

Madrid Royal Palace and Prado Museum Private Tour with Transfers

4 hoursFree Cancellation

(194)

from $349

Madrid Private Eco Tuk Tuk Expert Tour with Local Guide

2 to 4 hoursFree Cancellation

(244)

from $23

Skip the lines and see the exquisite Royal Palace at your own pace on this private, guided tour of the biggest royal residence in Europe. The official home of Spain’s kings, this palace in the city contains 3,000 preserved rooms, works of art, the royal chapel, and string instruments made by Antonio Stradivari. Follow your guide up the 70-step main staircase and discover what’s inside.

Skip the Line Royal Palace Madrid Exclusive Guided Tour

Skip the Line Royal Palace Madrid Exclusive Guided Tour

2 hours 30 minutesFree Cancellation

(82)

from $143

One of the world’s great art galleries, the Prado Museum has almost 3,000 works on display, including artists like Goya, Velázquez, Rubens, and Caravaggio. Almost every visitor to Madrid stops by here, so a skip-the-line ticket is a worthwhile investment. This one comes with a guide to lead you through the myriad rooms and introduce highlights including the works of El Greco and Velázquez’s Las Meninas (Ladies in Waiting).

Prado Museum Guided Tour with Skip-the-Line Ticket

Prado Museum Guided Tour with Skip-the-Line Ticket

1 hour 30 minutesFree Cancellation

4.6

(1,826)

from $53

Toledo Half or Full Day Tour with Optional Lunch from Madrid

Visit Toledo from Madrid, without the pressure of figuring out how to get there, on this group tour. Sit back and relax in a comfortable, air-conditioned vehicle as you're driven directly to the historic hilltop city. Enjoy an itinerary based on the type of tour you choose, with potential visits to the Cathedral of Toledo, the Church of St. Tome, and the Monastery of San Juan de los Reyes.

Toledo Half or Full Day Tour with Optional Lunch from Madrid

5 to 8 hoursFree Cancellation

4.5

(6,204)

from $34

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.

Special Offer

Avila & Segovia Tour with Tickets to Monuments from Madrid

9 hoursFree Cancellation

Private Eco Tuk Tuk Tour with Local Guide

1 to 4 hoursFree Cancellation

(932)

from $23

Madrid Highlights and Hidden Gems Private Tour with a Guide

Madrid Highlights & Hidden Private Tour with a Local Private Guide

2 to 3 hoursFree Cancellation

(276)

from $124

Madrid: Tuk Tuk Greatest Panoramic Tour + LOCAL GUIDE + PICK UP

1 2 3

...

Top Attractions in Madrid

1 / 2

Attractions

What are people saying about Madrid

Elizabeth_R, Sep 2026

A great tour in Madrid

We had a wonderful experience with Maria Jose (MJ) our tour guide. MJ is verse in Spanish and English; she is knowledgeable, friendly and flexible. The Tuk Tuk tour takes you to the small streets of Madrid and to the most important spots. Ask for Maria Jose, she will take care of you

Prado Museum Small Group Tour Skip the Line 7 People Max

Joan_W, Aug 2026

Bravo Prado!

We had a private Prado Museum Tour, 1 1/2 hours long, with Monroe. He has such a wealth of knowledge and is so gifted in his presentations of numerous pieces of art. His explanations, use of humor and iPad photos, made our trip to Spain an unforgettable experience. Our 11 year old granddaughter was also following his every word! He is a gifted guide and teacher.

Madrid Icons & Hidden Gems: Private Custom Tour with a Local

Jennifer_S, Aug 2026

Walking tour with Lisa, was fantastic!

Our lovely tour guide, Lisa, contacted us prior to the tour and asked about our interests. She picked us up on time in our hotel lobby. She was very friendly and pleasant. She walked with us and brought us to places in the neighborhood and the city that we would not have discovered by ourselves and which enriched our experience in Madrid. She explained the layout of the neighborhoods, the city, and the history of the development of the areas. We learned a lot, had a wonderful experience, and it was a must-do addition to our trip. Definitely recommend and would do it again in a heartbeat!

Private Eco Tuk Tuk Tour with Local Guide

Anet_A, Jun 2026

Madrid Tuk Tuk Tour

We loved our tour and tour guide Roberto. He was amazing. We made it late to our tour but still ended up doing most of the things on the schedule. He was kind enough to make accommodations and changes based on our schedule: Very informative and pleasant. We would definitely recommend this tour to others especially those with kids.

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

Elizabeth_S, Jun 2026

A whistle stop view of the city in a fun and relaxed manner especially if walking too far is an issue.

Good fun whilst being informative. We picked the 2 Hour time slot which was long enough. I suggest you book early on your trip as it lets you pick out places that hold more interest and you can revisit on your own time. It helps you get your bearings of the city too.

Madrid Royal Palace and Prado Museum Private Tour with Transfers

Virginia_P, Jun 2026

Private tours are well worth it!

First time having a personalized tour, but my guide Christina was excellent. She knew the Palace of Madrid and its rich history completely. She share some of the past intrigue around past generations of royals and tge queen who gave birth 24 times! Astounding! There was no question Christina could not answer. When we visited the Prado Museum of Art, she knew the details of the paintings, their meanings, vanishing point of a painting and society during specific periods. This experience was far more enriching than had I gone by myself. Additionally, it was an extremely hot day and my ticket allowed me to skip the lines at each place. Would highly recommend paying a bit extra for this experience when you travel. Christina deserves a promotion or at the least, a bonus. We spent a good 2 hours at each place. Although Pope Leo was in Madrid that day, she managed to snag a taxi from the palace to the art museum; coolness under pressure. Cannot thank Viator enough for this experience. Will continue to book private tours in the future.

Segovia and Toledo Day Tour from Madrid with Optional Alcazar

VERA_W, Jun 2026

Great day out

The itinerary is excellent! Beautiful places, lots of history and culture. Comfortable shoes is a must and Segovia was much cooler than Madrid so need some extra layer but check the weather forecast. Don’t expect too much from the English speaking guides and you’ll have a fabulous time :)

Madrid Private Food Walking Tour with 6 or 10 Tastings

Kristina_H, Jun 2026

Piero was wonderful

Piero was an absolutely fantastic guide for our first activity in Madrid. We covered history, architecture, some Spanish gossip, and of course, food! We visited some known spots and some hidden gems and in the meantime had some fantastic food and drink. If you are visiting Madrid be sure to let Piero show it to you first!

Madrid Old City Guided Exclusive Guided Walking Tour

Jane_W, May 2026

Small walking tour of old Madrid

This truely was a small tour of only 4 of us and really opened our eyes to the old Madrid! Definitely gave us a greater admiration for the city and so pleased we did it. Our tour guide was lovely and very enthusiastic and made the history of Madrid come alive! Just a warning that it was over 3 hours long and as it commenced at 11am it was getting very hot by the end Maybe an earlier start could considered

Private VIP tour Royal Palace and city tour. All of Madrid in one day

Maria_L, Mar 2026

Our tour guide Ana- we...

Our tour guide Ana- we loved , she was very friendly, knowledgeable, passionate about her work and showed us the best of Madrid! Also gave us many suggestions on places to visit and restaurants to try. It was very helpful, since it was our first time in Madrid. We will definitely come back!

Private Eco Tuk Tuk Express Tour with Local Guide

Katherine_M, Mar 2026

Tour guide was wonderful

We had a very difficult time locating the meeting point. Original location was changed in the middle of the night. The company did contact us to notify of the change. Extremely difficult for us to locate the new location. GPS didn’t work correctly and locals had no clue where we were trying to go. However the tour guide was very helpful and spoke our language and was helpful and informative.

Madrid Highlights and Hidden Gems Private Tour with a Guide

Lynne_L, Mar 2026

Madrid Walking Tour

Our guide started with an overview of royal history of Spain. We walked by many important sites and visited the cathedral and the crypts below; which were beautiful and full of history. We visited the Plaza Mayor and historic sites around the plaza. I highly recommend this tour.