Top Madrid Private Sightseeing Tours - page 3

Madrid Expert Tour Plus in Eco Tuk Tuk Private

(17)

from $224

2 to 4 hoursFree Cancellation

(171)

from $23

Admire the spectacular sights of Spain’s vibrant capital on a bicycle tour of Madrid. With a knowledgeable guide, cycle at a leisurely pace to important monuments like Plaza Mayor and the Royal Palace of Madrid. Stop intermittently to listen to illuminating commentary from your expert guide, and to capture photographs of Madrid’s historical and architectural highlights. All safety equipment is included on this tour.

Madrid Highlights Bike Tour

3 hoursFree Cancellation

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!

(1,892)

from $33

Likely to Sell Out

Sorolla Museum Private Tour

3.8

(6)

from $84

Madrid City Tour – Hop On Hop Off Bus

1 hour 10 minutes to 1 hour 25 minutesFree Cancellation

3.5

(3,165)

from $35

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

Prado Museum Small Group Tour with Skip the Line Ticket

(1,879)

from $53

Discover Madrid’s Retiro Park, which holds UNESCO World Heritage status, in a fun and personalized way—on a private Segway tour. Opting for a private tour means there’s no pressure to keep up with a group, and you can ask the guide questions along the way. Discover the main garden, the park’s oldest tree, the Fuente del Angel Caido fountain, and the Crystal Palace (Palacio de Cristal): Upgrade for longer tours.

Special Offer

Madrid Segway Private Tour in Retiro Park

1 to 2 hoursFree Cancellation

Likely to Sell Out

VIP visit to the Las Ventas Bullring in Madrid

Visit with a private guide, with which you can discover all the secrets of the Monumental de Las Ventas and the Bullfighting Museum of Madrid without missing the slightest detail. During the tour you will enter the lesser-known corners of the most important bullring in the world, and our guides will be in charge of disseminating all the events and anecdotes that have taken place here, in a very entertaining way, answering all your questions.

VIP visit to the Las Ventas Bullring in Madrid

(222)

from $47

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

(81)

from $156

Escorial Monastery and the Valley of the Fallen from Madrid

5 hours 30 minutesFree Cancellation

4.3

(1,102)

from $78

Private Guided Tour of the Prado Museum in Madrid with fast entrances and pick up at the hotel.

2 hoursFree Cancellation

4.7

(98)

from $147

Go sightseeing in Madrid on a Segway, the personal transportation device that provides a fun ride. Choose from a range of tour durations, all led by a knowledgeable private guide who provides full instruction on Segway operations; no prior experience is needed. The shortest tour takes in highlights including the Almudena Cathedral and the Royal Palace of Madrid; others add in sights like the Temple of Debod and Retiro Park.

Special Offer

Segway Private Tour in the Historic Center of Madrid

Segway Private Tour in the Historic Center of Madrid

1 to 3 hoursFree Cancellation

Enjoy a fully personalized, flexible way to discover Madrid on this private bike tour. Pick a start time, meet your guide in central Madrid, and set off by either a traditional bike or e-bike. The itinerary is totally up to your group, but your guide can whisk you to the city’s top landmarks, to its hippest neighborhoods, and to any other stops you prefer, all while sharing the stories behind the sights.

Private Madrid City Tour | Regular Bike/E-Bike | Groups from 32€

3 hours 5 minutesFree Cancellation

(29)

from $53

Make the most of your time in Madrid by visiting the Prado Museum with a guide: Entry is guaranteed thanks to prebooked tickets. Your guide ensurs that you don’t miss any of the museum’s most important art pieces by having a guide to teach you about the collections. Highlights include work by Hieronymus Bosch, El Greco, Francisco Goya, and Peter Paul Rubens. Upgrade for a private tour or to add a tapas meal.

Madrid: small group tour of the Prado Museum

Madrid: small group tour of the Prado Museum

2 hours 5 minutesFree Cancellation

4.3

(227)

from $53

Private Eco Tuk Tuk Express Tour with Local Guide

1 to 4 hoursFree Cancellation

(420)

from $23

Skip the long lines and have a guide all to yourself during this full-day, guided, combination tour that includes a tour of Madrid’s Royal Palace and historic Old City. Walk the opulent halls and rooms of Europe’s largest, functioning royal residence and see the throne room and works of art by masters like Goya and Caravaggio. In the Old City, wander back through history from central Puerto del Sol.

Royal Palace + Old City Madrid Exclusive Guided Walking Tour

Royal Palace + Old City Madrid Exclusive Guided Walking Tour

5 hours 30 minutesFree Cancellation

(8)

from $281

Prado Museum and Reina Sofia Museum Private Tour

Likely to Sell Out

4 hoursFree Cancellation

4.4

(7)

from $197

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

Private 1H Eco Tuk Tour in Madrid – Exclusive & Fun Experience

(2,956)

from $73

1 hourFree Cancellation

Madrid Sightseeing Tuk Tuk Tours

(42)

from $117

Per group

1 to 3 hoursFree Cancellation

4.6

(25)

from $118

Family Friendly Madrid Private City Tour

2 hours 30 minutesFree Cancellation

(28)

from $98

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.

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

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

4.3

(674)

from $46

Visit Spain’s the most important modern art gallery, in a two hour tour which will allow you to see the most essential works of art. The guide can collect you at your hotel or at the entrance of the gallery, next to the Spanish flag. The price of the tour includes the entrance fee and will also allow you to avoid the long queues. During the tour, not only will you discover the most important masterpieces, but also you will have a general understanding of the social and political context in which they were made. The ideas of the artists and all the details. The greatest masters of the 20th century are waiting for you inside.

Private Tour in Reina Sofía Museum, Madrid

Private Tour in Reina Sofía Museum, Madrid

1 hour 50 minutes to 2 hours 10 minutesFree Cancellation

(3)

from $146

Visiting the Reina Sofia Museum with us is the assurance of a unique and authentic experience. We make a point of honour of the quality of the visit, this is achieved through a totally personalized service adapted to your needs. The visit starts at your hotel where your English speaking guide will pick you up to discover one of the richest art collections in the world. Having the services of a private guide is a unique moment during which you will learn about the works of art in the manner of a private art history lesson. Our tours are unique and different from all the other tours you can find in Madrid, we want above all that each visitor feels unique, the fast entrance fees are included in the price which ensures you enter directly into the Reina Sofia Museum without going through the classic queue. Your guide will be at your side throughout the visit and will make sure you feel comfortable.

Reina Sofia Museum Tour: Skip-the-Line Tickets and Private Historian Guide

Guided tour of the Reina Sofia Museum in Madrid, entrance fees and pick up at the hotel.

2 hoursFree Cancellation

(8)

from $159

Prado Museum Small Group Tour Skip the Line 7 People Max

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What are people saying about Madrid

Charisse_D, Aug 2026

Awesome Tour Guide, Awesome Museum'

Monroe was a very insightful tour guide, providing us with a good understanding of the key works in the Prado museum and the feautured artists' lives. We could tell he loved art history and painting techniques, and he gave us so many cool facts that we would never have hear of if we just went to the museum ourselves. He was also good at making relatable jokes, and made the experience really enjoyable. We strongly recommend going on this tour and museum.

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!

Segovia and Toledo Day Tour from Madrid with Optional Alcazar

Melissa_F, Jul 2026

Tamara was an excellent...

Tamara was an excellent guide. It was an exceptionally hot day and she did her best to keep the group in the shade and entertained. Seeing the Alcazar of Segovia is definitely worth your time - it’s a very unique and beautiful palace. Would 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.

Private Eco Tuk Tuk Tour with Local Guide

Michael_S, Jun 2026

Lovely Tuk Tuk tour of Madrid

We took the full 3 hour tour of Madrid with our driver and Guide, Mario. He was very knowledgeable and friendly with very clear English so we understood everything perfectly. He paced the tour nicely with 2 chances to get out and stretch our legs with quick park visits. Fully recommend!

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.

Madrid Old City Guided Exclusive Guided Walking Tour

q8s2q729hg, May 2026

Excellent

Our guide, Leticia, was absolutely wonderful. She was extremely knowledgeable, engaging, and had a great sense of humour which made the tour really enjoyable. What stood out most was how she improvised on the spot to make the experience more interesting and interactive rather than just following a script. She also gave us plenty of local recommendations for food and places to visit, and every recommendation turned out to be excellent. 5 stars for Leticia — we would 100% recommend doing a tour with her!

"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!

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.

Madrid Private Eco Tuk Tuk Expert Tour with Local Guide

Robin_C, Mar 2026

Great Tour on Tuk-Tuk Tour

The guide, Gloria was GLORIOUS ? We did have a difficult time finding the meeting point. Don’t give up it is well worth the time it took to discover where the meeting place was!!! Very informative, gave us a 4 hour tour ALL around the city. It was truly a wonderful experience for the 3 of us!