All Madrid Tours & Excursions in 2026

Private Sightseeing Tours

1,000+ results

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4.7

(1,809)

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Free Cancellation
2 hours

from $46

4.8

(3,019)

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

Free Cancellation
1 to 4 hours

from $28

Price varies by group size

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.

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4.8

(8,699)

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

Free Cancellation
12 hours

from $99

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).

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4.5

(1,219)

Prado Museum Guided Tour with Skip-the-Line Ticket

Free Cancellation
1 hour 30 minutes

from $46

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.

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4.6

(4,341)

Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch

Free Cancellation
11 hours

from $45

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.

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4.8

(10,229)

Avila & Segovia Tour with Tickets to Monuments from Madrid

Free Cancellation
9 hours

from $93

4.3

(2,023)

Flamenco Show & Special Menu at Torres Bermejas in Madrid

Free Cancellation
1 hour

from $33

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.

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4.8

(1,700)

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

Free Cancellation
1 hour 10 minutes

from $46

4.5

(1,878)

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

Free Cancellation
2 hours 10 minutes

from $46

Discover the exciting and vibrant city of Madrid on-board a Hop on Hop off sightseeing bus tour. From the top deck of a double-decker bus, experience unrivalled 360-degree views of the city's most iconic sights and landmarks, including the Royal Palace, Biblioteca Nacional, Puerta de Alcalá and Cybele Palace. Take in Madrid's rich history and culture as you explore unmissable sights and attractions such as the Prado, Reina Sofia and Thyssen-Bornemisza museums, the Royal Botanic Gardens, Atocha Station, the Metrópolis Building and the Almudena Cathedral. 3 routes - Ride the Historic Route(Purple Route) through the historic parts of the city, the Modern Route (Blue Route) all the way to the iconic Santiago Bernabéu Stadium, and the Actual Route (Orange Route) will take you to Las Ventas Bullring.

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3.9

(262)

Big Bus Madrid Hop on Hop off Tour

Free Cancellation
1 hour 20 minutes

from $39

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

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.

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4.9

(3,735)

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

Free Cancellation
3 hours

from $90

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.

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4.9

(2,795)

Madrid Tapas & Taverns Small Group Food & History Tour

Free Cancellation
3 hours to 3 hours 30 minutes

from $83

Price varies by group size

Soccer enthusiasts won’t want to miss a guided tour of Madrid’s Santiago Bernabéu Stadium, the home stadium of Real Madrid. Whether you support the local team or another, this one-hour tour is a great way to get a behind-the-scenes look at one of the most important teams in the world. Visit one of the towers for a sweeping view of the stadium, check out the impressive trophy room, and more.

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4.2

(392)

Bernabeu Stadium & Real Madrid Museum Guided Tour

Free Cancellation
1 hour 30 minutes to 2 hours

from $68

Price varies by group size

Likely to Sell Out

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.

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4.8

(661)

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

Free Cancellation
4 hours

from $93

Price varies by group size

Special Offer

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.

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4.4

(703)

Royal Palace of Madrid Small Group Skip the Line Ticket

Free Cancellation
2 hours 10 minutes

Toledo Private Tour with Licensed Local Guide

Free Cancellation
3 to 8 hours

from $258

Per group

Taste your way through Madrid’s markets, restaurants, and stylish bars on a hassle-free food tour with tapas included along the way. Along the route, you’ll stop at three authentic local venues — including a traditional tavern and a century-old restaurant — where you’ll enjoy generous portions of real Spanish cuisine, not just finger food. A local guide will introduce you to a wide range of dishes, such as Asturian-style chorizo slow-cooked in cider, stuffed mushrooms, padrón peppers, and meat cheeks with smashed potatoes all paired with wine, beer, or soft drinks.

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5.0

(2,079)

Madrid Tapas & Wine Tour with Rooftop Views and Local Guide

Free Cancellation
4 hours

from $115

Explore Segovia and Avila in one day in the most fun and exclusive way! maximum 8 travelers, without hurry and with room to enjoy every moment. In Segovia we will start with the incredible Alcázar, a fairytale castle, and then we will enter the Cathedral, a Gothic gem that will blow your mind. For lunch we will pause at a local restaurant, where everyone pays for their consumption. Try the famous suckling pig or typical dishes while sharing laughter and anecdotes. In the afternoon we will arrive at Avila, where we will contemplate its medieval walls, symbol of the strength of the city. We will visit the Convent of Santa Teresa de Jesus and walk through its streets, feeling history in every corner. To close with a golden clasp, we’ll end up at the Parador de Ávila, enjoying a drink as we gaze at the illuminated walls and share the last laughs of the day. With only 8 travelers, this tour is exclusive, close and fun.

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4.8

(36)

Travel through Segovia and Avila in a Small Group from Madrid

Free Cancellation
11 hours

from $175

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.

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4.9

(1,762)

Madrid Highlights Bike Tour

Free Cancellation
3 hours

from $33

Special Offer

4.6

(673)

Madrid to Avila & Segovia: Full-Day Highlights Tour

Free Cancellation
9 hours

from

$51

$60

Immerse yourself in the flavors and fun of classic paella- and sangria-making during this cooking workshop in Madrid. Travel independently to the convenient central venue, meet your chef and fellow foodies; and start by crafting a refreshing sangria. Then, hear about paella’s history and ingredients before discovering its secrets as you prep it, step-by-step, in a traditional pan. Finally, sit down to enjoy your flavorsome dish, accompanied by lashings of delicious sangria.

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4.9

(912)

Paella Workshop with Bottomless Sangria in Central Madrid

Free Cancellation
3 hours

from $76

Leave the hustle and bustle of Madrid behind for a day and discover the rich historic legacies of Toledo, Segovia and Avila. You will start with the fortified city of Toledo, a Unesco World Heritage site known as the “second Rome.” Next is Segovia, guarded by an impressive former Alcázar (castle) and Roman aqueduct, and finally, the hilltop city of Avila which is home to Spain’s best preserved medieval walls.

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4.8

(342)

Toledo, Segovia and Avila from Madrid with Tickets and Lunch

Free Cancellation
13 hours

from $93

4.6

(355)

Madrid Barajas Airport Private Transfer To Madrid City

Free Cancellation
20 to 50 minutes

from $34

Price varies by group size

3.5

(3,129)

Madrid City Tour – Hop On Hop Off Bus

Free Cancellation
1 hour 10 minutes to 1 hour 25 minutes

from $39

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Top Attractions in Madrid

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What are people saying about Madrid

Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch

Ryan_G, Mar 2026

Great tour with good guides.

Enjoyed seeing both cities and the guide was very informative. It was great to see the highlights efficiently of each city. The bus was a little hard to locate to start but all else was smooth and as advertised. We would highly recommend Cathedral and Alcazar in Segovia. The pace was good for our two kids (9-12). We would recommend for other families. Tour was bi-lingual on bus and mono-lingual on the city tours.

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Toledo, Segovia and Avila from Madrid with Tickets and Lunch

Jill_R, Mar 2026

Informative and fun

If you are time limited and want to see three UNESCO cities in a day ,this is the trip to do. Whilst it is a long day with a fair amount of walking it is really worth it. Our day was made particularly memorable by our guide, Khan, who was very knowledgeable and informative about the history, architecture and culture of the three spectacular cities and his sense of humour and engaging style really made the day for us - a really lovely guy who is a credit to Amigo Tours. The tour was well organised with plenty of helpful communication, especially with regards to the pick up point, and everything ran smoothly. We did the inclusive package and the lunch was a theatrical experience with lovely food , wine and service. One of the highlights of our time in Madrid.

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Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

Evelyn_D, Mar 2026

We are so glad that we...

We are so glad that we took this tour with Bobby. We took this tour on our first day in Madrid. It was a great way to orient ourselves to Madrid Bobby our driver was very funny and also knew a lot of history. I am amazed at how much he knew and how much he could recite. Very smart man.

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Avila & Segovia Tour with Tickets to Monuments from Madrid

Eduardo_P, Mar 2026

Book this tour!

No wonder this tour is so popular. I’m so happy we made the decision to book this tour. First of all, Rafa, Nacho and David were phenomenal. They are very respectful of everyone’s time. Rafa was assigned to the English speaking group and he was so knowledgeable and entertaining. They ensured everyone stayed together and the trivia questions were super fun. Segovia and Avila were very charming and the views are breathtaking.The bus was comfortable and clean. If you book the tour, do not separate from the group. When people get lost, it impacts everyone’s experience. My only feedback is please have a little jar for tips. A couple to people wanted to leave the guides some money but couldn’t do it and felt bad handing money to them directly. Rafa and team, you are absolutely amazing. Gracias a todos!

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Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

Kristin_M, Mar 2026

Our favorite Madrid experience

We really enjoyed this experience. The musicians and dancers are top notch. The experience is very entertaining and intimate. Every seat has a great view. The brief history lesson was good information. Arrive a bit early in order to relax and enjoy your drink in the salon, before moving to the performance area.

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

Jeremy_P, Mar 2026

Everything you want

We frequently take a food tour when we visit different cities and this was a really good one. Unlike some, we didn’t get to explore much of the city but then again it was a food and wine tour, and the experience was great. Good wine, with insightful explanation around both the drink and food, plus fascinating history. A lot of tasty food and really lovely company. Very highly recommend.

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

Kimberly_K, Mar 2026

We had a wonderful tour...

We had a wonderful tour of with Anna. It was fantastic going through the Prado Museum before the general public arrived! We had the place to ourselves! Our guide was excellent and made the tour very interesting! We walk around Plaza Mayor and then toured the Palace. It was top notch!

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Royal Palace of Madrid Small Group Skip the Line Ticket

Una_N, Mar 2026

Fabulous Tour

Palace is an amazing place, seemed to be much bigger than Versaille and other palaces I have visited. Our guide walked us from the meeting point to the Palace where we skipped the very long line. Letitia was her name and she is very good at her job. Very clear English and very knowledgeable and pleasant and she gave us a real understanding of the history of the castle. this was one of our hightlights in Madrid.

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Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Jody_A, Mar 2026

Beautiful Palace. Amazing History - a must do

Beatriz with Golden Tour Guide was absolutely amazing. She is/was a history teacher and made the tour as fun as possible. She was engaging and encouraged participation by having us “portray” different kings from Spain’s history. She was informative and fun:. We really enjoyed the tour.

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

Fiona_W, Mar 2026

Interesting Tour

Insightful commentary as walking around Madrid with a tour guide. Ours was informative, fun and knowledgeable. Answering all our questions with enthusiasm. A good way to get to know the city and it's history. The tour included Palace entry which saved having to wait in line. Once inside the guide continued to give clear auditable information. The pace of the tour was just right, giving time for folks to wander around. We took the 10am tour on a Saturday, be mindful that if you wish to visit the Cathedral straight after the Palace tour, you might not get in due to Mass taking place.

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Prado Museum Guided Tour with Skip-the-Line Ticket

Donald_S, Mar 2026

A Perfect Introduction to the Prado

It is a quick but thorough introduction to the many large Prado Museum collections. Our guide, Jesus, passionately provided knowledgeable insights about the art and the artists, and the influence of Spanish history at the time of their painting. The quick "no line" entry is priceless, and after the guided tour ends inside the Prado, you are free to roam as you please.

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things_to_do

Usually overshadowed by Spain’s seaside cities, Madrid often surprises with its rich history, art, cuisine, and nightlife. Madrid tours offer numerous hassle-free options for experiencing its attractions. See the city by tuk-tuk, bike, or hop-on hop-off double-decker; cover landmarks on guided strolls, or skip the lines to explore the Royal Palace and masterpiece-filled Prado. Then, embrace Madrileno culture with a tapas crawl, cooking class, Bernabeu stadium tour, or flamenco show at a traditional tablao. And for a change, take days out to discover rural wineries, the magnificent El Escorial Monastery, and nearby UNESCO-listed cities like Toledo, Segovia, and Avila.

All Madrid Tours & Excursions in 2026

1,000+ results

Top Attractions in Madrid

Alcalá Gate (Puerta de Alcalá)

Santiago Bernabéu Stadium (Estadio Santiago Bernabéu)

Reina Sofia Museum (Museo Nacional Centro de Arte Reina Sofia)

Essential Flamenco

Royal Palace of Madrid (Palacio Real de Madrid)

Prado Museum (Museo del Prado)

Alcalá Gate (Puerta de Alcalá)

Santiago Bernabéu Stadium (Estadio Santiago Bernabéu)

Reina Sofia Museum (Museo Nacional Centro de Arte Reina Sofia)

Essential Flamenco

Royal Palace of Madrid (Palacio Real de Madrid)

Prado Museum (Museo del Prado)

Alcalá Gate (Puerta de Alcalá)

Santiago Bernabéu Stadium (Estadio Santiago Bernabéu)

Reina Sofia Museum (Museo Nacional Centro de Arte Reina Sofia)

Essential Flamenco

What are people saying about Madrid

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