Top Madrid Walking Tours

Madrid is full of history, with plenty of fascinating stories that you’d unlikely learn without a guide by your side. See the influence of centuries of art, culture, architecture, and politics on modern-day Madrid on guided tour of the old city. Learn about the people and events that happened here and see iconic sights like the Royal Palace, Plaza Mayor, Almudena Cathedral, and more.

Don’t waste your precious vacation waiting in long ticket lines—see Madrid’s Royal Palace with ease, thanks to this combination of skip-the-line admission and a guided tour. As you follow your guide around the opulent rooms, learn about royal history, and check off highlights such as the Banquet Hall and the Throne Room.

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.

Join our fascinating tour where you will learn and get to know Madrid in the most fun way and be seduced by the stories that keep every corner of this beautiful city. Nothing better than to tour the city with your expert guide to get to know these places where you can taste typical dishes, historical places and monuments, etc. Note: this is a free tour. The payment you make now corresponds to the rate of this platform. Guide payment is not included

Visit Madrid's Royal Palace and its surroundings with a professional guide on this walking tour. Explore Plaza Mayor's rich history, indulge in the diverse flavors of Spanish cuisine at Mercado San Miguel, and stroll through charming streets like Calle De Codo and Plaza de la Villa. Then, skip the line for a guided tour of Madrid's historic royal residence.

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.

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.

Explore the best of Madrid with this expertly guided walking tour featuring skip-the-line tickets to the Royal Palace, one of Europe’s most breathtaking royal residences, and to the Prado Art Musuem - the cultural jewel of Spain. If you wish, choose the Prado Early Access option when booking for a VIP experience in the Prado Museum where you'll enjoy a guided tour of the galleries one hour before they open to the public. As you make your way through the stunning galleries of the Prado Museum, through the charming historic center, and wrap up at the grandiose Royal Palace, you'll be accompanied by an insightful local guide who will decode the city's lesser-known stories and hidden secrets every step of the way. And with a small group of just 16 guests maximum, you'll enjoy a more relaxed and intimate experience with easy access to your guide so you can ask them all your burning questions.

Madrid Essential is the most complete tour of the historic center of Madrid : Puerta del Sol, Plaza Mayor, San Miguel Market, Arab Wall, Almudena Cathedral and Royal Palace. In 2 hours and a half, our expert local guides reveal you medieval secrets, hidden histories and corners that never appear in travel guides. We are the No1 company on TripAdvisor Madrid among more than 1,200 tourism companies. We have been with the Award for 8 consecutive years TripAdvisor Best of the Best — only 1% experiences in the world receives it. More than 20,000 reviews on TripAdvisor, Google, GuruWalk and Free Tour. More than 10 years touring Madrid with travelers from all over the world. Small groups, maximum 25 people per guide. Includes material printed and illustrated map exclusive to Trip Tours Madrid. Al booking you receive our personalized guide to Madrid by WhatsApp. At the end of the tour, your guide recommends where eating, drinking and what not to miss.

See a new side of Madrid, and learn about the Spanish Inquisition and other gruesome happenings, on this evening tour. Meet your costumed guide in central Madrid, and set off to discover key landmarks—from the Plaza Mayor to the Royal Palace—illuminated at night. As you go, your guide will share ghost stories, events from the Spanish Inquisition, tales of torture and frights, and other macabre legends.

Madrid’s Prado Museum (Museo Nacional del Prado) is home to one of the most important art collections in the world, but its long lines to enter and vast size can be discouraging. Zip past the crowds and follow your guide to admire masterpieces by Velázquez, el Greco, Goya, Tiziano, Rubens, and others in less than two hours with this skip-the-line tour available in English, Spanish, and Italian.

The Prado Museum is one of the most popular attractions in Madrid and without this handy skip-the-line guided tour you could be waiting a long time to get in. Simplify your visit to one of Europe’s top art galleries and learn more about Spanish art and culture than you could touring alone. This small-group tour can be customized to suit your interests.

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).

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.

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.

Indulge your tastebuds on this gourmet walking tour of Madrid’s atmospheric and historic La Latina neighborhood. Follow your guide, a local food and wine expert, to some of the best local eateries, and taste a range of authentic tapas and regional specialties all accompanied by fine Spanish wines. With just a small group for company, you can look forward to eating, drinking, and exploring like a true Madrileño.

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.

Don't waste your time in Madrid in tourist trap bars. This pub crawl takes you to four of the best spots in town, including one of Madrid's hottest nightclubs, to ensure that you have a great night out. Party with like-minded people and enjoy free shots and discounted drinks at each place.

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.

A Madrid panoramic tour by open-top double-decker bus is the perfect introduction to this incredible city. You can explore city sights at your own pace. Hear onboard audio commentary and check out Madrid’s many plazas, museums, and theaters with the provided map and guidebook.

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 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.

Explore Madrid’s past during this guided, small-group walking tour of the Old City—a great way to see the area without the hassle of having to navigate yourself from place to place. Wander through Plaza Mayor, which once served as the city’s market, see the Baroque architecture of the Santa Cruz Palace, explore the La Latina neighborhood, and more. Your guide provides insight as you go.