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

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.

(9,255)

from $100

Big Bus Madrid Hop on Hop off Tour

1 hour 20 minutesFree Cancellation

3.8

(292)

from $39

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

2 hours 10 minutesFree Cancellation

4.5

(1,996)

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.

Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch

11 hoursFree Cancellation

4.6

(4,696)

from $45

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

1 to 4 hoursFree Cancellation

(3,129)

from $28

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

4.5

(6,061)

from $34

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

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.

(10,711)

from $94

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

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

4.9

(3,870)

from $91

Flamenco Show & Special Menu at Torres Bermejas in Madrid

1 hourFree Cancellation

4.3

(2,050)

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.

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

1 hour 10 minutesFree Cancellation

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).

(1,785)

from $46

Prado Museum Guided Tour with Skip-the-Line Ticket

1 hour 30 minutesFree Cancellation

4.5

(1,445)

from $46

Toledo Private Tour with Licensed Local Guide

3 to 8 hoursFree Cancellation

(922)

from $261

Per group

Toledo Jewish Heritage Private Tour with expert local guide

3 to 8 hoursFree Cancellation

(241)

from $148

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

Privately Guided Panoramic Tour in Yellow Tuk Tuk from Madrid

(2,709)

from $73

2 hoursFree Cancellation

(87)

from $26

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

4.2

(451)

from $69

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

11 hoursFree Cancellation

4.4

(53)

from $177

See Toledo more intimately with a private guide on a day trip that’s tailored to you. You’ll have the choice of several options when you book to suit the duration and schedule that works best. Opt for a mix of free time and guided exploration, and discover why UNESCO-listed Toledo has been dubbed the “City of Three Cultures” with commentary about its cathedral, mosques, and synagogues. Plus, you'll sail past long lines with skip-the-line admission to the Catedral Primada de España.

Toledo Private Tour with Cathedral Skip the Line Ticket

2 to 8 hoursFree Cancellation

(221)

from $116

Madrid Private Eco Tuk Tuk Expert Tour with Local Guide

2 to 4 hoursFree Cancellation

4.9

(233)

from $28

Madrid Barajas Airport Private Transfer To Madrid City

20 to 50 minutesFree Cancellation

4.7

(369)

from $34

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

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.

(428)

from $82

Special Offer

Paella Workshop with Bottomless Sangria in Central Madrid

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

Avila & Segovia Tour with Tickets to Monuments from Madrid

4.9

(1,812)

from $33

1 2 3

...

Top Attractions in Madrid

1 / 2

Attractions

What are people saying about Madrid

tatyana_m, May 2026

Well organized and very informative

The trip was very well organized and on time. Everything was explained in great details. Our guide Laura in Segovia was great, making the experience even move elevated. Gloria, in Avila was good, but sometimes hard to understand. Overall we are happy with the experience and would recommend to others

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

Nicole_Q, May 2026

Great way to get Madrid’s highlights

What a great way to get an overview of Madrid’s highlights. We scheduled this tour as our first activity upon landing in Madrid and I highly recommend it. Our guide, David, was informative and very friendly, providing us with a great first experience in Madrid.

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

Jennifer_C, May 2026

Fun & educational tour

We had a wonderful time with Rocio today as our culinary guide. It was a day that we will always remember and we got both a history tour as well as a food tour of local specialties and local favorite tapas bars. We would definitely recommend this tour for anyone interested in learning more about Madrids cuisine and wine culture.

Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch

MICHAEL_W, May 2026

Great day, general overview

This was a great overall tour for anyone looking to expand their knowledge and insights beyond Spain’s major cities. Our tour guide Kostas was very thorough and managed the group well, everything felt very organized throughout an 11 hour day. This tour was bitter sweet because it’s great to see Segovia and Toledo, but there’s only time for a glimpse. I definitely feel like they are worth spending a couple days in! I guess I’ll just have to come back to Spain

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

ByronA_R, May 2026

Essential Experience

I enjoy flamenco but I’m not expert in it nevertheless I loved the program and it was as authentic as I imagine it could be. All of the performers were outstanding especially the female dancer. She put so much passion into her dancing!! I highly recommend this Essential experience!!

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

Richard_C, May 2026

3 Cities in 1 day is a great was to see more of Spain while visiting Madrid

We highly recommend this tour. The day was well paced with ample opportunities to get food, drinks, shopping and rest. Our guides were extremely friendly and knowledgeable of the history, cities and sites we toured. We opted for the lunch and cathedral tour and are glad we did. It was a great way to see Spain beyond our visit to Madrid.

Teatro Flamenco Madrid: Andalusia in the Heart of Madrid

Diane_F, May 2026

Best Flamenco Performance of All!!!

I’ve been on a 17 day vacation with 10 on land in Portugal and six different cities in Spain, including Barcelona and Madrid of course. Of all our excursions/tours and shows, this is in second place, second only to Sagrada Família. The dancers are unbelievably talented and fit as can be to dance as fast and long as they could. The women aren’t spring chickens either, which makes it even more remarkable! The guitarist was phenomenal. I will remember this experience forever!

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

Aiswariya_J, May 2026

Royal Palace Tour!

It was a good experience with the operator and the trip to the Royal Palace was good. The guide was knowledgeable, funny and made sure that everyone was engaged. The tour was well paced with adequate time being given to the tourists to absorb the rooms, content and to take pictures (if needed). Overall, a good experience and would definitely recommend.

Prado Museum Guided Tour with Skip-the-Line Ticket

Raul_G, May 2026

Prado Museum - North Carolina/ Nebraska US

We had a wonderful experience visiting the Prado Museum in Madrid. Our tour guide, Sergio, led us on a focused highlights tour of some of the museum’s most important works, including: Diego Velázquez’s Las Meninas; Francisco de Goya’s The Third of May 1808; El Greco’s The Nobleman with his Hand on his Chest; Hieronymus Bosch’s The Garden of Earthly Delights; Titian’s Emperor Charles V at Mühlberg; Peter Paul Rubens’s The Three Graces; Bartolomé Esteban Murillo’s The Immaculate Conception (of Los Venerables); José de Ribera’s Jacob’s Dream; Francisco de Zurbarán’s Still Life with Lemons, Oranges and a Rose; and Raphael’s The Cardinal. It’s important to understand that this tour is designed to concentrate on these major masterpieces and their artists and does not cover the entire museum. To fully appreciate the Prado’s incredible collection of paintings, sculptures, and other works of art, you should plan to stay an additional 2–3 hours on your own after the guided tour. My personal favorites were The Cardinal by Raphael and the Prado’s version of the Mona Lisa—a remarkable painting created in the same period by a student of Leonardo da Vinci and possibly finished or retouched by the master himself. I highly recommend this tour and a longer visit to explore the rest of the museum at your own pace.

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.

Madrid Countryside Wineries Guided Tour with Wine Tasting

Kyle_A, Apr 2026

A wonderful day trip

Amazing and informative tour. I wanted to learn more about Spanish wine and was not disappointed. Muna was a perfect guide. The wineries we visited were authentic real deal. Great value for the money as we were giving more than enough wine to drink and tapas along the way. Highly recommend!