Top Madrid Walking Tours - page 2

Madrid Tapas & Wine Tour with Rooftop Views and Local Guide

4 hoursFree Cancellation

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.

(2,285)

from $116

Royal Palace of Madrid Small Group Skip the Line Ticket

Royal Palace of Madrid Small Group Skip the Line Ticket

2 hours 10 minutesFree Cancellation

4.4

(859)

from $64

Madrid: Guided Tour of the Royal Palace of Madrid with Ticket

Madrid Tapas & Taverns Small Group Food & History Tour

4.7

(66)

from $38

3 hours to 3 hours 30 minutesFree Cancellation

(3,470)

from $90

Reina Sofia Museum Small Group Tour -6 people maximum-

(498)

from $54

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.

Toledo Private Tour with Licensed Guide and Driver from Madrid

Toledo Private Tour with Licensed Guide and Driver from Madrid

5 to 8 hoursFree Cancellation

(684)

from $367

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

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

12 hoursFree Cancellation

4.8

(10,552)

from $107

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

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

4.3

(742)

from $46

Madrid Walking Tour: Old city & Royal Quarter. In a Small group.

2 hours 30 minutesFree Cancellation

Madrid to Avila & Segovia: Full-Day Highlights Tour

9 hoursFree Cancellation

Madrid Pub Crawl: Club Entry, Bars & Shots

4 to 6 hoursFree Cancellation

Visit Toledo from Madrid, without the pressure of figuring out how to get there, on this group tour. Sit back and relax in a comfortable, air-conditioned vehicle as you're driven directly to the historic hilltop city. Enjoy an itinerary based on the type of tour you choose, with potential visits to the Cathedral of Toledo, the Church of St. Tome, and the Monastery of San Juan de los Reyes.

(3,087)

from $20

Toledo Half or Full Day Tour with Optional Lunch from Madrid

Toledo Half or Full Day Tour with Optional Lunch from Madrid

5 to 8 hoursFree Cancellation

(6,198)

from $34

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.

Likely to Sell Out

Madrid Night Walking Tour: Spanish Inquisition & Old City Legends

Madrid Night Walking Tour: Spanish Inquisition & Old City Legends

2 hoursFree Cancellation

4.7

(337)

from $21

Bernabeu Stadium & Real Madrid Museum Guided Tour

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.

Bernabeu Stadium & Real Madrid Museum Guided Tour

1 hour 30 minutes to 2 hoursFree Cancellation

(792)

from $69

Explore spooky spots around Madrid on a walking tour that brings you to fascinating places with creepy pasts you wouldn’t know about on your own. Your local guide shares historic tales of crimes, curses, witches, and more. Visit Iglesia de Santa Cruz, Calle Mayor, Plaza de Oriente, and Accidente Aereo as you listen to eerie ghost stories, mysterious tales, and unnerving historic details.

Madrid Oscuro: Torture, Ghosts, Crimes and Legends

2 hours 25 minutesFree Cancellation

Likely to Sell Out

Explore two of Madrid’s top sights in just half a day on this immersive, informative tour. In the morning, meet your guide outside the Monument to Felipe IV, enter with skip-the-line tickets, and discover masterpieces from artists like Goya, Rubens, and Velázquez. Next, spot landmarks like the Casa de Cervantes en route to the Royal Palace of Madrid, a regal marvel that’s still home to the Spanish royal family today.

Royal Palace & Prado Museum Skip the Line Guided Tour

5 hoursFree Cancellation

(1,551)

from $85

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.

Avila & Segovia Tour with Tickets to Monuments from Madrid

9 hoursFree Cancellation

Experience both history and gastronomy together with this full-day guided tour through Toledo followed by a wine tour and tasting that includes a selection of Iberian charcuterie and Spanish Manchego cheese. Weave along Toledo’s hilly streets and admire diverse architectural styles with an official guide that provides context about the city’s famous El Greco art, Arabic, Gothic, and Moorish architecture, and medieval past. For those who choose to upgrade, the experience also includes an in-depth visit to the city's awe-inspiring cathedral before heading to the winery. Then, embark on a wine tour and tasting guided by a local viticulturist.

Toledo Tour & Vineyard Experience with Wine Tasting from Madrid

8 hoursFree Cancellation

This tour from Madrid makes it easy to explore Toledo’s major highlights. Depart in the morning via VIP coach, discover the city wall, and stop at a viewpoint for photos. Next, follow your guide through the city’s old town, visiting the Church of Santo Tomé (home to a famed El Greco painting), the Santa María la Blanca Synagogue, and the cathedral, considered a masterpiece of the Spanish Gothic style.

Toledo Half Day Tour with Cathedral, St Tome Church & Synagoge

5 hours 30 minutesFree Cancellation

Join a small group of seven people or less, as you delve into the treasures of the Prado Museum with an expert art historian as your guide on this small-group tour with skip-the-line tickets. Uncover hidden masterpieces by renowned artists such as Hieronymus Bosch, El Greco, Titian, Rubens, Velázquez, and Goya. Gain insights into the history and symbolism behind each painting, a must-do for any art enthusiast.

(283)

from $76

Prado Museum Small Group Tour Skip the Line 7 People Max

Prado Museum Small Group Tour Skip the Line 7 People Max

(343)

from $50

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.

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

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

8 hoursFree Cancellation

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.

From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets

11 hoursFree Cancellation

4.6

(5,345)

from $45

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

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.

(1,911)

from $33

Madrid Old City Guided Walking Tour Semi-Private 12ppl Max

Madrid Old City Guided Walking Tour Semi-Private 12ppl Max

2 hours 30 minutesFree Cancellation

(217)

from $53

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

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What are people saying about Madrid

Veronica_C, Aug 2026

Great tour of a very impressive palace

Absolutely loved this tour. Our tour guide was very entertaining. Not only did he share a lot of interesting information about the palace and the Royal family, he also cracked quite a few funny jokes that kept us engaged. My husband could not take stairs and he was very accommodating and made sure we never missed out on anything when we had to separate from the group to take the lift. Highly recommended.

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

Claire_G, Aug 2026

Spectacular guided tour of the Royal Palace

We really enjoyed our guided tour of the Royal Palace and the walk to it. Our guide was extremely knowledgeable and we could tell he had a passion and enjoyment for Madrid, especially the palace. He was very friendly, and amusing. We had considered just going into the palace on our own but agreed it was definitely worth having the guide. The palace is absolutely stunning and each room is beyond amazing. We would definitely recommend this tour. The only suggestion we would have is to take 10 minutes to look inside Mercado de San Miguel rather than walk past it.

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

Vivian_K, Aug 2026

Fantastic

What a fantastic evening. Our guide, Sonia, ensured we had plenty of food, drink and fun. We went to four different places and she provided history of them and others that we passed along the way. The variety of tapas and drinks was great. I even found a new favorite cocktail, Tinto de verano. So refreshing. Our small group became fast friends so made for a lovely evening. Had we not been so full I’m sure we would have kept on going. Recommended for sure.

Madrid Tapas Wine and History Tour

Jessica_B, Aug 2026

Borja is the best

What a great tour. Took us to all good spots and got to try a lot of Spanish food and drinks while getting history also. Borja was super nice and you could tell he loves what he does. He was just smiling the whole time and was a great vibe.Also one person didn’t drink on the tour and he made sure to accommodate them.

Madrid Old City Guided Exclusive Guided Walking Tour

Marina_R, Aug 2026

Madrid Brought to Life Through Stories and History

We had an absolutely wonderful tour of Madrid with Flo. By pure luck, it ended up being just the two of us with her, and it felt like having an incredibly knowledgeable local friend show us the city. Flo’s English is impeccable, and her knowledge goes far beyond dates and landmarks. She has a deep understanding of European history and politics and is wonderful at connecting Madrid’s past to the bigger historical picture. What made the tour especially memorable was her storytelling—this isn’t about racing from one attraction to the next or checking sites off a list. Flo helps you understand the stories, people, politics, and events behind the places you’re seeing, which makes the city come alive in a completely different way. She also has a lovely, light sense of humor, and the conversation flowed so naturally that the time flew by. We learned a tremendous amount while genuinely having fun. If you enjoy history, great storytelling, and actually understanding a city rather than simply seeing it, I can’t recommend Flo highly enough. One of the highlights of our time in Madrid!

Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

John_T, Aug 2026

Entertained and informed

Free tours are operated by a range of mostly self employed guides. They rely on tips to cover administrative expenses charged by the platforms through which they are booked so please understand this before participating. Christian explained this to us before the tour started on a sultry evening in Madrid and did a great job in informing and entertaining our quite large group - 13 had come together which produced a slightly different atmosphere to the usual groups where very few do. This helped to relax the group and we learnt lots about the Hapsburgs who’d ruled Spain in its various guises with a number of innovative visual aids. It must have helped as we got all the answers right in the light hearted quiz at the end. I’d be delighted to have Christian as a guide again.

Madrid Historical Walking Tour

ruth_o, Aug 2026

History lesson

Freddy was a great tour guide Showing us things along the way that we would never have seen or picked up on if we weren’t on the tour As well as learning all about the past kings and realms of Madrid we learnt our way around gaining confidence for future exploring Freddy also directed us to some great eateries and markets I have a much better understanding of the Spanish Inquisition the revolution and the different kings Thx Freddy Darryl and Ruth Melbourne Australia 🇦🇺

Madrid Walking Tour from Puerta del Sol to Retiro Park

Melba_W, Aug 2026

You have to do this tour when in Madrid

Michel was an absolutely fantastic guide for our walking tour of Madrid. Despite the extreme heat, he was incredibly thoughtful, consistently finding shaded spots for us to rest and ensuring everyone stayed together safely. His instructions were always clear and easy to follow, making the entire experience both informative and highly comfortable.

Prado Museum Madrid Guided Tour with Skip the Line Ticket

Kellie_W, Aug 2026

Excellent tour!!!

Excellent tour that I would book again! I wish I remembered our guides name because he made the tour excellent! He was very knowledgeable and knew many tricks on where to stand and what to look for in the art! It made it come to life for me- someone who thinks art museums are boring :). It was only our family of 6 so that was nice too. Not hard to navigate through the crowds.

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!

Madrid Oscuro: Torture, Ghosts, Crimes and Legends

Ileana_B, Jul 2026

Very interesting tour with an amazing tour guide.

This was a VERY INTERESTING tour. We were a family of 4 (2 adults and 2 teens). Silvia was out tour guide and she is FANTASTIC! Very energentic, knowledgeable, and approachable. She always kept my children interested. We highly recommend this tour and Silvia.

Madrid Highlights Bike Tour

Chanel_S, Jul 2026

Exceptional bike tour experience

We had the most delightful e-bike tour with Javier! The bikes ride was easy... great bike, guided clearly and perfectly by him through the traffic of busy Madrid. Javier's exceptional knowledge of the history and leaders of Madrid throughout the centuries, which shaped modern day Madrid - was invaluable. I highly recommend this 3 hour trip to not only see the city highlights, but get insight to the fun stories as well as the history behind it. Thank you Javier, this was 5 star ++ Chanel and Menanteau