Top Madrid Private Sightseeing Tours

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

3 hoursFree Cancellation

4.9

(64)

from $264

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

Special Offer

1 to 8 hoursFree Cancellation

Toledo Private Tour with Licensed Local Guide

3 to 8 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.

(963)

from $258

Per group

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

(679)

from $364

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

1 to 4 hoursFree Cancellation

(3,292)

from $23

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.

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

4.7

(101)

from $66

Get unparalleled access to the world of flamenco with these pre-booked admission tickets, and enjoy an intimate evening dance performance. Skip the distraction of meal service and focus on the dancing. Unlike other venues, this dance space features only three rows of seating, so you’re sure to get close-up views of the emotion-charged stage. Entry tickets include one complimentary drink.

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

1 hour 10 minutesFree Cancellation

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.

(1,943)

from $46

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

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!

(10,242)

from $106

Private Half-Day Sightseeing in Madrid

4 hoursFree Cancellation

(10)

from $176

Madrid Old City Guided Exclusive Guided Walking Tour

2 hours 30 minutesFree Cancellation

(613)

from $61

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

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).

(11,384)

from $93

Prado Museum Guided Tour with Skip-the-Line Ticket

Prado Museum Guided Tour with Skip-the-Line Ticket

1 hour 30 minutesFree Cancellation

4.5

(1,739)

from $53

Likely to Sell Out

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.

Your Best Day in Madrid - Private Custom Tour

3 to 7 hoursFree Cancellation

(32)

from $242

Private Ávila & Segovia Day Tour from Madrid with Hotel Pickup

8 to 9 hoursFree Cancellation

4.9

(78)

from $457

Combine two top Madrid landmarks into one sightseeing tour with this half-day experience. Meet your guide for a tour of the Prado Museum with a focus on works by Velazquez, Goya, and Rubens. Continue the tour with a walk to the Royal Palace of Madrid, passing popular landmarks like Puerta del Sol along the way. Complete the experience with a guided tour of the Royal Palace to learn about its décor and architecture. Preferential access throughout is included.

Likely to Sell Out

Prado Museum & Royal Palace: Madrid Private Tour in English

5 hoursFree Cancellation

4.7

(167)

from $239

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.

Privately Guided Panoramic Tour in Yellow Tuk Tuk from Madrid

2 hoursFree Cancellation

4.7

(105)

from $26

See Toledo more intimately with a private guide on a day trip that’s tailored to you. You’ll have the choice of several options when you book to suit the duration and schedule that works best. Opt for a mix of free time and guided exploration, and discover why UNESCO-listed Toledo has been dubbed the “City of Three Cultures” with commentary about its cathedral, mosques, and synagogues. Plus, you'll sail past long lines with skip-the-line admission to the Catedral Primada de España.

Toledo Private Tour with Cathedral Skip the Line Ticket

2 to 8 hoursFree Cancellation

(229)

from $115

Three World Heritages Sites - Toledo, Segovia and Ávila Private Tour from Madrid

10 hoursFree Cancellation

(23)

from $686

Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket

2 hours 10 minutesFree Cancellation

4.5

(2,147)

from $46

Tuk Tuk Tour of the Best of Madrid (booking only)

Embark on an unforgettable adventure with our Tuk Tuk Tour. From the historic Royal Palace, home to kings, to the bustling Gran Via, known as the “Madrid Roadway”, every twist reveals a new wonder. Marvel at the Cathedral of La Almudena, where modernity and tradition merge into its unique architecture Feel the story at the Cibeles Fountain, a symbol of the city, and at the Neptune Fountain, where Atletico Madrid fans celebrate their triumphs. Retiro Park, an oasis of peace, invites you to escape the urban bustle, while Puerta de Alcalá tells you stories of a Madrid that was a gateway to the capital. With our guide sharing anecdotes and fascinating facts, each stop becomes a window into the history and culture of Madrid. NOTE: the payment you make only includes booking management. The 1-hour tour is priced from 90€ / 2 hours 140€ / 3 hours 210€ Valid for 4 people

Tuk Tuk Tour of the Best of Madrid (booking only)

1 hourFree Cancellation

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

(6,179)

from $34

Toledo Jewish Heritage Private Tour with expert local guide

3 to 8 hoursFree Cancellation

(252)

from $147

Madrid Private Eco Tuk Tuk Expert Tour with Local Guide

2 to 4 hoursFree Cancellation

4.9

(239)

from $23

On this tour with a private guide, you will get to know the painter's workshop and the last house Joaquín Sorolla, along with his temporary exhibitions. The Sorolla Museum also has the most important works of the artist, classified in different categories. It is one of the most beautiful and homey museums in Madrid, as well as one of the best preserved houses in Europe. The building was converted into a museum after the death of his widow. Designed by Enrique María Repullés, it was declared a Site of Cultural Interest in 1962. The main rooms are still furnished as they were during the artist's lifetime, including Sorolla's large, well-lit studio, where the walls are lined with his canvases. Other rooms are used as galleries to display Sorolla's paintings, while the upstairs rooms are a gallery for special exhibitions. Do not miss this unique corner of Madrid!

Sorolla Museum Private Tour

1 hour 30 minutesFree Cancellation

3.8

(6)

from $83

Madrid Segway Private Tour in Retiro Park

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What are people saying about Madrid

Richard_T, Jul 2026

Enjoyed our charming...

Enjoyed our charming young guide. Very friendly and gave us time at stops to investigate an area more on our own. Made sure we sere comfortable on the segways and kept us safe on the busy streets. He took pictures for us that are suppose to be sent to my email, but have not received those yet.

Prado Museum Small Group Tour Skip the Line 7 People Max

Kate_D, Jul 2026

Monroe was an amazing...

Monroe was an amazing tour guide, he kept our entire family engaged, three teen-ish Boys included through the entirety of our time in the Prado which is a tall order. His knowledge of art and history are unmatched. We all very much enjoyed this tour. Highly recommend.

Privately Guided Panoramic Tour in Yellow Tuk Tuk from Madrid

Shaun_W, Jun 2026

We learned a lot in our two hour tour.

Carlos was very knowledgeable and showed a strong passion for Madrid. He checked in on what did and did not want to see and planned the trip accordingly. Good fun and learnt a lot over the two hour tour We did this tour day one and then went back to visit our favourite parts over the following days.

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

Kenneth_V, Jun 2026

tour was not about...

tour was not about finding the big stuff-- that can be easily done online. Lisa the guide was excellent at sharing great small stuff and giving advice on where to go and making effective use of time and resources. She was very good in both planning and in the execution of the tour. We highly recommend her. thanks ken vanexan

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

Karen_N, May 2026

Well planned. The team...

Well planned. The team did a great job explaining the sites. Their language skills were excellent. It was a wonderful excursion and able to get out of the city (Madrid) to see some of the country side in a comfortable (well air conditioned) bus. Would highly recommend.

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

Kelly_C, May 2026

Fun and Informative Tour!

Great Tultuk tour. The tour guide was very knowledgeable about Madrid and the history of the city as well as the history of Spain. He asked us what we had already seen and done so that he could show us places we had not already seen. We could stop whenever we wanted to take photos. Wonderful experience!

Private Ávila & Segovia Day Tour from Madrid with Hotel Pickup

Jeffrey_W, May 2026

Absolutely wonderful!

We had an absolutely wonderful experience on our tour to Ávila and Segovia! Our guide was knowledgeable, engaging, and truly passionate about the history and culture of both cities. They brought every site to life with interesting stories and details that we would have never discovered on our own. Highly recommend this tour.

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!