All Madrid Tours &amp; Excursions in 2026

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.

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

12 hoursFree Cancellation

(9,335)

from $99

Toledo Jewish Heritage Private Tour with expert local guide

3 to 8 hoursFree Cancellation

(243)

from $148

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

5 to 8 hoursFree Cancellation

(6,074)

from $34

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.

Big Bus Madrid Hop on Hop off Tour

1 hour 20 minutesFree Cancellation

3.8

(296)

from $39

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.

Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch

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.

4.6

(4,756)

from $45

Avila & Segovia Tour with Tickets to Monuments from Madrid

9 hoursFree Cancellation

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

(10,771)

from $93

1 to 4 hoursFree Cancellation

(3,141)

from $28

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

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.

(2,728)

from $73

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

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

3 hoursFree Cancellation

4.9

(3,920)

from $91

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.

Toledo, Segovia and Avila from Madrid with Tickets and Lunch

13 hoursFree Cancellation

(429)

from $93

Toledo Private Tour with Licensed Local Guide

3 to 8 hoursFree Cancellation

Live the ultimate football dream with a visit to the iconic Santiago Bernabéu Stadium, home of FC Real Madrid. Your entry ticket grants access to the exclusive FC Real Madrid Museum, showcasing the club's rich history, trophies, and legendary players. Visit the stadium's iconic stands, walk through the Trophy Room, and get up close to the pitch. Enjoy panoramic views of the stadium from the top-tier viewing deck and shop for exclusive Real Madrid merchandise. Explore the FC Real Madrid Museum, bask in the glory of 14 European Cup triumphs, and walk through the Trophy Room's dazzling silverware. Enjoy panoramic views of the stadium from the top-tier viewing deck and get electrifyingly close to the pitch, soak in the stadium's electric atmosphere. Visit the Real Madrid Shop, offering exclusive merchandise and memorabilia.

(928)

from $260

Per group

Santiago Bernabéu Stadium and FC Real Madrid Museum Entry Ticket

1 hour 30 minutes to 2 hoursFree Cancellation

4.0

(1)

from $76

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

2 hours 10 minutesFree Cancellation

Madrid Barajas Airport Private Transfer To Madrid City

(2,010)

from $46

20 to 50 minutesFree Cancellation

4.7

(372)

from $34

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.

Travel through Segovia and Avila in a Small Group from Madrid

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.

4.4

(54)

from $176

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

4 hoursFree Cancellation

(732)

from $117

Segovia, Avila & Toledo: Small Group Guided Tour from Madrid

(140)

from $116

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).

Prado Museum Guided Tour with Skip-the-Line Ticket

1 hour 30 minutesFree Cancellation

Cuenca and the Enchanted City Full Day Tour from Madrid

(1,468)

from $46

Known to some as the city of three cultures—because of its Muslim, Christian, and Jewish heritage—Toledo is a stunning medieval city that's an easy day trip from Madrid. Take a trip to this UNESCO World Heritage Site with this guided group tour, complete with round-trip Madrid transportation. After easy coach travel, enjoy sights like the old city walls, 12th-century synagogue, and Primate Cathedral (Catedral Primada)—all included.

(91)

from $105

Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church

8 hoursFree Cancellation

(7,319)

from $93

Instead of guessing where to eat and what to order in Madrid, join this guided walking tour to combine food, wine, and history in one experience. Stroll through lively streets and landmarks such as Plaza Mayor while sampling tapas, local wines, and traditional vermouth. Along the way, learn insider tips—including which tourist traps to avoid—so you can navigate the city like a local long after the tour ends.

Madrid Tapas, Wine and History Tour

3 hoursFree Cancellation

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.

(439)

from $82

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

1 hour 10 minutesFree Cancellation

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.

(1,799)

from $46

Madrid Tapas & Wine Tour with Rooftop Views and Local Guide

4 hoursFree Cancellation

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

(2,160)

from $116

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Top Attractions in Madrid

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Attractions

What are people saying about Madrid

Patrick_H, May 2026

Not to me missed

Absolutely fantastic. It began with a brief but informative history of flamenco and the gypsies in Spain, followed by masterful guitar, cello percussion and, of course the dancing. The price was right and the complimentary sangria was a nice touch. I give it my highest recommendation

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

Dawn_R, May 2026

Great way to see Madrid on Day 1!

We had a great time and Carlos was very informative and friendly and let us ask questions about what to see and do. We’ve done Hop on/off buses which are fun but the Tuk Tuk allowed us to see things better and get familiar with Madrid on our first day. It was a little hard to find the pickup but we asked the information desk attendant near the Royal Palace and they told us the stairs to take downstairs. Word of advice, the stairs are located near the edge of the plaza. If you’re looking at the palace, it’s the parking stairs to the right. Once you get to the stairs, you will see the signs for Eco Tuk Tuk. Also we had a nice and suuny day-not sure I would have enjoyed it had it rained so plan accordingly!

Avila & Segovia Tour with Tickets to Monuments from Madrid

John_H, May 2026

An Unforgettable Segovia & Ávila Experience with Outstanding Guides

We had an amazing experience on the Segovia and Ávila tour with Oscar, Luis, and Fatima! The entire team was professional, friendly, and attentive throughout the day. Our English-speaking guide was especially informative, engaging, and genuinely caring, making sure everyone felt included and comfortable while sharing fascinating historical and cultural insights. The sights in both Segovia and Ávila were absolutely beautiful and unforgettable. From the stunning architecture to the rich history and breathtaking scenery, every part of the tour was worthwhile. We truly enjoyed the experience and would definitely recommend this tour to anyone visiting Spain!

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

Andrea_H, May 2026

One of the best tours in Madrid!

Our guide was absolutely phenomenal! I honestly could not have asked for a better guide and group of fellow tourists. I sincerely appreciated the history tidbits that came along with the food & wins info. I will cherish the memories from this tour. I STRONGLY recommend this fun event!

Royal Palace & Prado Museum Skip the Line Guided Tour

Leonardo_N, May 2026

Canceled.

Unfortunately I canceled my tour due to the fact that they changed the meeting point less that 24 hrs from scheduled time. I specifically booked my hotel near the pick up point so I could walk less than 10 mins there. New pick up point was across the city, 40 mins away. I was unhappy about that…

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Chris_O, May 2026

This was overall a great...

This was overall a great tour. The meeting place was easy to find, and then a short walk to the palace. Despite a long lines, we got in very quickly and comfortably. Our guide was very knowledgeable easy to understand and show a lot of respect for the environment by being quiet but loud enough to understand.

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

Elizabeth_B, May 2026

Great way to visit these beautiful cities outside of Madrid!

We enjoyed our day with Juan Carlos and Antonio. They communicated well about keeping on schedule, kept good track of the group, and were very informative about the sites we saw. Having the tickets to the Toledo Cathedral provided for us ahead of time made it easy. The bus was very nice and made the long day & trips between cities comfortable. We are happy we were able to visit these towns; this trip made it easy to do!

Prado Museum Guided Tour with Skip-the-Line Ticket

ERIN_L, May 2026

5⭐️s

Isabella was so knowledgeable and very kind. She provided so much information and history behind the artists and different styles throughout the museum’s collection. She also went above and beyond extending the tour for those of us who wanted to experience more until she had to leave for her next scheduled tour. Isabella if you’re reading this, Muchas, muchísimas gracias por todo!!!!💗

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

Eden_V, May 2026

A Royal walk to the Royal Palace

This is such a wonderful tour in Madrid. So much highlights of the history of the Palace. Highly recommended to very new travelers in Madrid. There are plenty of waking so make sure you are physically fit for it. Our tourist guide has so much knowledge that she imparted to us.

Toledo Half or Full Day Tour with Optional Lunch from Madrid

Angela_B, Apr 2026

A Perfectly Balanced Day in Historic Toledo

Our day trip to Toledo was a great mix of history, culture, and scenery. The city’s cobblestone streets and layered influences from Christian, Jewish, and Muslim heritage made it fascinating to explore. The guided tour was engaging without feeling rushed. Visiting the Toledo Cathedral was a standout—stunning in every way—and the Synagogue of Santa María la Blanca added a unique cultural perspective. We were unsure about lunch at a historic war museum vs a local restaurant, but it ended up being a pleasant surprise with a nice setting and a nice selection of traditional tapas items. Overall, a well-paced and memorable way to experience one of Spain’s most historic cities.