Top Madrid Walking Tours - page 4

Toledo Tour & Vineyard Experience with Wine Tasting from Madrid

(2,640)

8 hoursFree Cancellation

from $131

Delve into the cultural tapestry of Toledo, a treasure trove of El Greco artworks and ancient fortifications, on a half- or full-day tour from Madrid. With your guide, navigate the cobbled streets, and explore the diverse architecture of the medieval city. Admire masterpieces by El Greco as you go on a morning, afternoon, or full-day excursion, plus add-on a tapas lunch for a local experience.

Toledo Half or Full Day Tour with Optional Lunch from Madrid

4.5

(6,029)

5 to 8 hoursFree Cancellation

from $34

Madrid’s Royal Palace is the largest royal residence in western Europe, and an architectural marvel—and this guided tour offers an accessible, stress-free way to chart its expanse and discover its highlights. Meet your guide right outside the entrance, grab a pair of headphones, and head right in with skip-the-line tickets. You’ll learn all about its history, will see its artistic and musical exhibitions, and can soak up its grandeur. Afterward, delve deeper into the capital's culture on a city walking tour.

Likely to Sell Out

Royal Palace Guided Tour Small Group with Tickets

4.5

(243)

2 hours 20 minutesFree Cancellation

from $46

Sample the culinary secrets of Madrid as you taste and tour your way through the historic center. Choose between a 3-hour deep dive or a 2-hour express tour to learn how the Spanish eat out and enjoy their local culture. Your guide fills you in on the history and traditions while you enjoy tastings of savory tapas, the iconic squid sandwich, sweet treats, and Spanish wines or vermouth (non-alcoholic options available). Both options feature an exclusive "Secret Dish" for a true insider experience.

Madrid Food Tour: Discover Tapas & A Secret Dish Like a Local

5.0

(838)

2 to 3 hoursFree Cancellation

from $77

Madrid's Royal Palace & Prado Museum Private Walking Tour

4.8

(14)

5 hoursFree Cancellation

from $226

4.3

(2,041)

Flamenco Show & Special Menu at Torres Bermejas in Madrid

1 hourFree Cancellation

from $33

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

(77)

2 hours 30 minutesFree Cancellation

from $158

Discover the medieval majesty of Toledo on a full-day tour from Madrid. Travel through the scenic Spanish countryside to Toledo, an ancient city home to prominent landmarks like the Synagogue of Maria la Blanca and Cristo de la Luz Mosque. Enjoy a guided walk of the historic center, then relish the freedom of exploring independently before returning to Madrid. Includes option to add the Cathedral and skip-the-line monuments access.

Toledo Day Trip with Optional Attraction Tickets from Madrid

4.1

(380)

7 to 9 hoursFree Cancellation

from $40

Get a dose of Madrid’s ‘bleeding edge’ street art culture during this investigation of the city’s diverse urban art scene. Discover murals in graffiti hotspots like ‘La Neomudéjar,’ located behind Madrid’s Atocha train station, ‘La Tabacalera,’ a former tobacco warehouse that today hosts a variety street murals, and ‘Campo de Cebada,’ a hybrid public space and community art project.

Street Art Guided Tour in Madrid

4.8

(177)

2 hoursFree Cancellation

from $30

4.7

(91)

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

2 hoursFree Cancellation

from $149

Experience the unique flavor and culture of the Spanish capital on a history and tapas small-group walking tour in Madrid. Avoid the hassle of navigating the old city center as your guide leads the way and illuminates the many-layered history of sights such as the Plaza Mayor and the Royal Palace. Stop at several authentic tapas bars, to feast like a local on an array of traditional appetizer-sized dishes paired with Spanish wine, sangria, and typical liquors—a guaranteed way to avoid the tourist traps.

Madrid Local's Tapas Tour Dinner with a side of History

(534)

3 hours 30 minutesFree Cancellation

from $113

Likely to Sell Out

Avoid the crowds and long lines—and truly make the most out of your visit to Madrid's iconic Royal Palace (Palacio Real)—on this flexible, private sightseeing tour. With tickets already included, all the logistics are taken care of. Pick a time that works best for you, and follow your guide straight to the highlights, learning insider stories about the palace's architecture, history, and regal former residents as you go.

Private tour in Palacio Real of Madrid

(29)

2 hours 30 minutesFree Cancellation

from $167

Day Trip to Cuenca from Madrid with Cathedral Visit

Special Offer

4.4

(10)

11 hoursFree Cancellation

from

$89

$106

Enhance your experience of unique Spanish cities, Avila and Segovia, on an enriching full-day tour from Madrid. Alongside an accomplished guide, admire arresting landmarks such as Avila’s ambient Gothic Quarter and Segovia’s Roman Aqueduct and colossal cathedral. Enjoy a complimentary Spanish lunch in a rustic restaurant, and gain valuable insight into the rich history of the history and heritage of the Roman cities from your expert guide.

Segovia and Avila Day trip from Madrid with Gourmet Lunch

4.3

(78)

9 hoursFree Cancellation

from $94

Discover Spanish history on a guided half-day visit from Madrid to the monastery of El Escorial and the Valley of the Fallen monument. Accompanied by a guide, delve into the history of the religious El Escorial complex and discover why it was considered the eighth wonder of the world. Then see the sculptures at the Valley of the Fallen monument built to honor those who died during the Spanish Civil War.

Escorial Monastery and the Valley of the Fallen from Madrid

4.2

(1,074)

5 hours 30 minutesFree Cancellation

from $82

Madrid: Top Pub Crawl Madrid & Party

4.7

(177)

3 to 5 hoursFree Cancellation

from $18

3.5

(3,142)

Madrid City Tour – Hop On Hop Off Bus

1 hour 10 minutes to 1 hour 25 minutesFree Cancellation

from $39

3.7

(244)

Madrid Sightseeing Tour with Royal Palace Skip the Line Ticket

4 hoursFree Cancellation

from $80

4.3

(49)

Retiro Park Walking Tour in Madrid

from $11

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

4.8

(2,670)

5 hoursFree Cancellation

from $74

Special Offer

Visit the UNESCO-listed cities of Segovia and Avila on this day trip from Madrid. See the massive Roman aqueduct and explore its Gothic cathedral and fairytale-like Alcazar fortress-palace of Segovia. Then, admire the picturebook Old Town of Avila with its stunning 11th-century walls, cathedral, and Basilica of St. Vincent. Choose from three options: guided tour only, guided tour with monuments, and an all-inclusive package with a tasty Spanish lunch.

Avila with Walls and Segovia with Alcazar from Madrid

4.4

(3,390)

9 hoursFree Cancellation

from $59

Likely to Sell Out

On the guided tour of the Prado Museum you will dedicate your time to living an unrepeatable experience in a unique setting full of art and beauty. The worldwide recognition of the Prado Museum is due to its vast and invaluable artistic collection. Here you will find the essential paintings by the most famous Spanish and European artists from the 14th to the 19th centuries, including Velázquez, El Greco, Goya, Titian, Rubens, Bosch, Raphael, Tintoretto and Van Dyck among others.

Guided Visit to the Prado Museum

4.7

(99)

from $29

Madrid Prado Museum Private Guided Tour for Kids and Families

(9)

from $260

Thyssen Bornemisza Museum Private Guided Tour

5.0

(6)

from $119

Prado Museum Guided Tour with Skip-the-Line Ticket

...

3 4 5

...

Top Attractions in Madrid

1 / 2

Attractions

What are people saying about Madrid

Howard_S, Apr 2026

Excellent tour

David was terrific. Very knowledgeable and engaging. Provided insights to the art, which made the experience a lot of fun and enriching. Reliable instructions to meet David and skipped the line to get into museum, which was very helpful. Great way to visit the museum, which could otherwise be overwhelming. Highly recommend.

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

Aaron_B, Apr 2026

Normally we would never...

Normally we would never book a tour like this but we decided last minute we wanted to see the Royal Palace and no regular tickets were available. We are SO glad we joined this tour. Our guide “Mitch” was knowledgeable, funny and very happy to answer questions. It added so much to the experience. Could not recommend this enough.

Madrid Historical Walking Tour

Annette_O, Apr 2026

Madrid I love you

I’ve been to Madrid many times throughout the years and have enjoyed walking tours with friends, but having a chance to bring my husband along and showing him this beautiful city from the lens of Glenn (our awesome tour guide) was truly a highlight — and I actually learned many facts and stories I haven’t heard before. On top of that, we were so grateful for Glenn and the team’s flexibility after missing our original time. They were great in communication and providing alternative options. — If you’re thinking about booking, just do it. You won’t regret it.

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

Andrea_D, Apr 2026

Wine Not!!

This was such a great experience. We enjoyed the tour with our three adult children. The tour included 6 other people with a total of 11 people all together. Yolanda, our guide, was fantastic! She was very knowledgeable and shared much information about the wine and surrounding area. We went to 4 establishments and were served wine and tapas at each! Our table was ready at each restaurant upon arrival . The wine and food were excellent, as well as the restaurant choices, the last restaurant being our favorite. We chose the 7:30 PM start time, which was perfect for our family. The tour ended close to 10:30 PM. It was a wonderful evening. We highly recommend this tour!

Madrid Walking Tour from Puerta del Sol to Retiro Park

deborah_c, Apr 2026

Fantastic tour!

This was a fantastic tour! We were lucky to have only three of us in our tour as it was the same day as the Madrid Marathon. Laszlo did a super job with our tour and clearly loves what he does. He kept it fun and entertaining as he explained the history and all the sites seen. We would definitely recommend this tour and would do another tour with Laszo.

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

kecia_b, Apr 2026

Lovely Experience

Our tour guide Laura was outstanding. Her information was educational, concise, and even had a little humor mixed in. Additionally, the group did everything possible to help us, including texting and taking our calls right up until the moment we connected with the tour guide, when we arrived to the tour late due to a situation at the airport. We so appreciated this outstanding service.

Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum

Jeffrey_M, Apr 2026

Adam A. Is the guide to get

Great tour. Lots of walking. Glad we went before it gets summer time hot. I don't have time to write an over 100 word review and feel that it is ridiculous that the tour operators won't accept our review unless this is over 100 words long. I would like to compliment our Fantasic Tour Guide Adam A. For his expertise knowledge, patience, and super positive professional approach to this once in a lifetime event for us even though he does this every day. We have traveled extensively and Adam A. Is without a doubt one of the best tour guides we have ever had

Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

Kyle_A, Apr 2026

Make this the first thing you do in Madrid!

I’ve had the pleasure of taking Maikel’s tour twice during recent trips to Madrid with friends and it is the perfect starter to your visit here. He’s very informative, communication flawless, and he gives excellent recommendations for things to do, places to eat, etc while you’re here. Again, it’s best to take this tour on your first day here.

Madrid Old City Guided Exclusive Guided Walking Tour

Hallie_H, Mar 2026

Great quick intro to Madrid

This walking tour was a perfect introduction to Madrid! We hit the main historic sites and Sergio was an excellent guide. He provided great information about each place, the history and culture of Madrid, and how each location tied together. The timing was perfect for a walking tour. 2.5 hours. We were able to ask lots of questions and Sergio even gave recommendations of places to go and restaurants to try. I recommend this tour if you want a quick introduction to Madrid and its history. Thank you Sergio!

Prado Museum Madrid Guided Tour with Skip the Line Ticket

Gonzalo_D, Dec 2025

Angel is fantastic

Angel is a FANTASTIC guide. Angel is extremely knowledgeable regarding art and the museum. No time wasted once the tour started. Angel knew where to go and how to get there. Angel is entertaining, never a dull moment!! Angel’s explanation of Goya’s influence on painters and schools of painting is unique and true!