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 Madrid at your own pace with flexible hop-on hop-off bus tickets that showcase the Spanish capital's history, architecture, and culture. Travel between landmarks such as the Royal Palace, Prado Museum, Plaza de España, and Puerta de Alcalá while listening to onboard commentary that puts landmarks into context. With access to three different sightseeing routes, it's an easy and convenient way to explore the city.

Big Bus Madrid Hop on Hop off Tour

1 hour 20 minutesFree Cancellation

Toledo Jewish Heritage Private Tour with expert local guide

3 to 8 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.

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

Toledo Private Tour with Licensed Local Guide

3 to 8 hoursFree Cancellation

Flamenco Show & Special Menu at Torres Bermejas in Madrid

1 hourFree Cancellation

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

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

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

1 hour 10 minutesFree Cancellation

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

Special Offer

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

2 hours 10 minutesFree Cancellation

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.

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

4 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.

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

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

3 hoursFree Cancellation

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

Madrid Tapas & Taverns Small Group Food & History Tour

3 hours to 3 hours 30 minutesFree Cancellation

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

1 to 4 hoursFree Cancellation

Madrid’s Prado Museum (Museo Nacional del Prado) is home to one of the most important art collections in the world, but its long lines to enter and vast size can be discouraging. Zip past the crowds and follow your guide to admire masterpieces by Velázquez, el Greco, Goya, Tiziano, Rubens, and others in less than two hours with this skip-the-line tour available in English, Spanish, and Italian.

Prado Museum Madrid Guided Tour with Skip the Line Ticket

1 hour 30 minutesFree Cancellation

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

Madrid to Avila & Segovia: Full-Day Highlights Tour

9 hoursFree Cancellation

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

1 hour 30 minutesFree Cancellation

Madrid City Tour – Hop On Hop Off Bus

1 hour 10 minutes to 1 hour 25 minutesFree 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

Prado Museum Small Group Tour with Skip the Line Ticket

1 hour 30 minutesFree Cancellation

Prado Museum Madrid Guided Tour with Skip the Line Ticket

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Must-Dos in Madrid

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What are people saying about Madrid

Chris_W, Oct 2026

Great Experience

Service was great and the tour was exceptionally well led. We had a 4pm tour on 2nd Oct, once we arrived at the museum it was clear that the general entrance line was empty and no wait. I am assuming this is because of the time of day and month. Buying a skip the line pass was not necessary. However having a guide showing us the must see paintings was worth it.

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

Qianqian_C, Oct 2026

Best day trip in Madrid

I'd like to give a big shout-out to Edwardo and Christina for being such wonderful guides today. They took us to three cities and were dedicated and attentive throughout the entire trip. Their explanations were excellent, and thanks to them, we had a truly enjoyable and fulfilling day from start to finish.

Prado Museum Guided Tour with Skip-the-Line Ticket

James_L, Oct 2026

Prado Museum Tour

We had an absolutely wonderful experience touring the Prado Museum with Jesús! Jesús was an exceptional guide—extremely knowledgeable, engaging, personable, and passionate about art and history. He did an amazing job bringing the masterpieces of the Prado to life, providing fascinating context about the artists, the historical periods, and the stories behind the paintings. What impressed us most was Jesús’s ability to make the museum feel approachable and exciting. He pointed out details that we would have easily overlooked and helped us understand the significance of works by artists such as Goya, Velázquez, and El Greco. His storytelling made the experience much more meaningful than simply walking through the galleries on our own. Jesús was also very attentive to our questions and interests and made the tour feel personal rather than like a standard museum tour. We highly recommend Jesús to anyone visiting the Prado Museum. If you have the opportunity to tour the Prado with Jesús, take it! He made our visit memorable and gave us a much deeper appreciation for one of the world’s great museums.

Paella Workshop with Bottomless Sangria in Central Madrid

Irene_R, Oct 2026

Smiles during and after the paella class.

My friends and I had an amazing time!!! Meeting the people in our group, Miguel and Chef Ivan. We can not stop talking about the experience, learning more about cooking paella, making sangria and all the laughter we had during our cooking class. I highly recommend this cooking class because of experiencing hands on cooking.

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

Alan_A, Sept 2026

Had such a wonderful...

Had such a wonderful experience with Yolanda at the Tapas & Wine Bar! The food and wine were delicious, and the service was exceptional. Everything was explained so thoroughly, from the different tapas to the wine selections, which made the experience even more enjoyable. So kind, knowledgeable, and welcoming. Definitely recommend!

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

Mario_H, Sept 2026

Powerful, intimate, and authentic Flamenco

I can’t recommend this highly enough. If you’re seeking an authentic Flamenco experience, this is it. Together, with a very generous glass of Sangria, and the small yet intimate stage for the art (because that’s what it is) to be performed, and the exceptionally talented cast who each perform with deep emotion and passion, I left with an unforgettable Flamenco experience.

Avila & Segovia Tour with Tickets to Monuments from Madrid

Donna_C, Sept 2026

Remarkable..

Such an overwhelmingly delightful day! we had an overview of what we thought we were going to experience, but Beatrice topped everything,, she is delightful,. she is informative. I found out more than I ever expected and both my husband and I experienced a wonderful adventure. Through all of her insights, both cities and lunch provided a wonderful adventure. Do not miss.

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Darnell_D, Sept 2026

Highly recommend this tour

Tour was great and we got a bonus - got to see the horses and guards parade out of the palace. Our tour guide (Lei?) was great. Information was comprehensive and interesting but not overwhelming; and we could clearly understand her. The audio boxes were great - probably the best we’ve ever had on any tour. Highly recommend this tour and tour company. .

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

Susan_B, Sept 2026

Our Tour guide, Alex, was...

Our Tour guide, Alex, was fantastic. He gave us a little history in Spain, Toledo and Segovia. our driver Alejandro, drove us very safe. the tour is highly recommended for young people as this tour requires so much walking and it is hilly. difficult to walk for seniors and recently injured (like me), I hope Amigo can come up with a VIP package for seniors or people who does not like too much walking for this tour.

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

Deepti_R, Sept 2026

Loved touring El Palacio Real with Letizia

I had a great experience on this tour with Letizia as the tour guide. I thought Letizia did an excellent job of bringing the history of the Spanish Royal Palace to life and telling us special details. Letizia's passion as a tour guide is evident, and she has the perfect demeanor for the job. I would recommend a tour with Letizia to anyone, my only negative comment is that the group size was a bit too big. Next time I'd book the small group tour.

Bernabeu Stadium & Real Madrid Museum Guided Tour

Bala_V, Jul 2026

Bernabeu tour, being all...

Bernabeu tour, being all indoors, is ok to do on hot summer afternoons. Impressive displays. The tour guide makes the difference as they can add a lot of context. Ours (Gigi) did. That you cannot walk back to spend more time in the museum & you are escorted out at the end of the tour, is not ideal for a true fan.