All Madrid Tours &amp; Excursions in 2026

Private Driver and Guide: Toledo Day Trip from Madrid

Join this full-day private trip from Madrid and sink yourself into the rich history of Toledo and Segovia. Beginning in Toledo, sometimes referred to as the "City of Three Cultures," where Jewish, Muslim, and Christian influences mix. Wander its maze-like streets and stop at the magnificent Toledo Cathedral, a Gothic masterwork with rich carvings, golden altarpieces, and great stained glass. Admire Toledo's Alcázar, perched above the city and providing expansive Tagus River views. Discover the golden age of the city when El Greco lived there. Next, travel to Segovia, where medieval and Roman marvels abound. Start at the famous Roman Aqueduct, a magnificent engineering accomplishment withstood over time. Wander through the lovely streets of Segovia, past medieval churches and gorgeous parks. See the architectural wonder of Segovia, the fairy-tale Alcázar, bursting with legends of knights and kings. Its dramatic hilltop position offers an amazing perspective of the Castilian terrain.

Private Day Trip to Toledo and Segovia from Madrid (TOP RATED)

Private Day Trip to Toledo and Segovia from Madrid (TOP RATED)

8 hoursFree Cancellation

Salamanca and Avila Private Tour from Madrid with Hotel Pickup

8 to 10 hoursFree Cancellation

Madrid Ultimate Spanish Cuisine Food Tour

3 hoursFree Cancellation

Hotel Madrid City Private Transfer To Madrid Barajas Airport

1 hourFree Cancellation

Discover another side of Spain–and avoid the crowds–on this private, full-day tour of Toledo from Madrid, with the flexibility to customize your itinerary. Take the scenic route before arriving in Toledo and begin with a stop at its most panoramic spot, the Mirador del Valle. Explore cobbled streets, see highlights including the Alcázar, and learn about local history and culture along the way.

Toledo Private Day Trip From Madrid

7 to 8 hoursFree Cancellation

Live a two-day journey through the cultural heart of central Spain. From the ancient Roman aqueducts of Segovia to the storied medieval walls of Ávila, and the timeless beauty of Toledo, this premium experience blends guided discovery, local flavors, and the rich heritage of three iconic cities. Spend the evening discovering Toledo at your own pace—an enchanting city that truly comes alive by night. Travel in comfort, enjoy curated experiences with expert guides, and end your journey with an exclusive wine tasting in a picturesque vineyard near Toledo.

Segovia, Avila and Toledo in 2 days from Madrid

Segovia, Avila and Toledo in 2 days from Madrid

2 daysFree Cancellation

Grab the opportunity and make the most out of your stay in Madrid by discovering the best this destination has to offer in a fully customizable Day Trip! At the desired time, an experienced English-speaking professional driver will pick you up from your accommodation in a private vehicle ready to share the historical facts, the necessary information about the sights and his personal input in order to immerse you into the Spanish lifestyle. In less than 1.5 hours you will reach Ávila. The town is situated more than 1 km above sea level and is the highest provincial capital in Spain. Admire the marvelous Avila Walls, the impressive architecture of Avila Cathedral and get carried away by the historical Santo Tomas Royal Monastery. Our drivers are not licensed to accompany you into the sights but are very knowledgeable of the places visited and will provide all the necessary historical information. At the end of the tour, your personal driver will drop you off at your hotel.

Private Day Trip from Madrid to Ávila

7 hoursFree Cancellation

Travel through Segovia and Avila in a Small Group from Madrid

11 hoursFree Cancellation

Discover El Escorial and Cuelgamuros on a private tour from Madrid, accompanied by an official guide and private driver. Will travel exclusively with their group in a Mercedes-Benz V-Class, with pick-up and return to their hotel or accommodation in Madrid, no shared groups. Visit the Royal Monastery of San Lorenzo de El Escorial, a UNESCO World Heritage site, and discover its history, its relationship with Philip II and the Spanish monarchy, and spaces such as the Basilica, the Royal Library, the Royal Pantheon, and the palace dependencies. After enjoying free time to have lunch in San Lorenzo de El Escorial, continue to Cuelgamuros to learn about its history and visit its monumental basilica carved into the rock. The experience includes admission to the Real Monasterio and Cuelgamuros. Since it is a private tour, the pace can be adapted to your group, respecting the monument schedules and the total duration of the tour.

Private Tour El Escorial and Cuelgamuros From Madrid: Official Guide

7 hoursFree Cancellation

Discover two of central Spain’s most remarkable historic cities on a full-day small-group tour from Madrid. Begin in Segovia, where the iconic Roman Aqueduct and medieval streets reveal centuries of history, before visiting the Alcázar, one of Spain’s most recognizable fortress-palaces. In the afternoon, continue to Toledo, a UNESCO World Heritage city shaped by Christian, Jewish, and Muslim influences. After enjoying panoramic views from the Mirador del Valle, explore the historic center and visit the Primatial Cathedral, one of Spain’s most important Gothic monuments. Throughout the day, your guide brings the history, culture, and traditions of these remarkable cities to life. - Small-group tour for a more personal and comfortable experience - Discover Segovia’s Roman Aqueduct, old town, and Alcázar - Enjoy panoramic views of Toledo from the Mirador del Valle - Explore Toledo’s historic center and visit the Primatial Cathedral - Travel with an expert guide throughout the experience

Segovia & Toledo Small Group Tour with Hotel Pick up from Madrid

Segovia & Toledo Small Group Tour with Hotel Pick up from Madrid

10 hoursFree Cancellation

Spain’s capital Madrid is a culinary hotspot where you can experience authentic local food and contemporary reimaginations. Dine at four different restaurants in the city—sampling traditional tapas in each—on this half-day small-group food tour that features bottomless white, red, and sparkling wine. You’ll also pass by local landmarks such as Calle Atocha and Plaza Mayor. The experience is conducted simultaneously in Spanish and English by fully bilingual instructors.

Madrid Local Tapas Tour with Private Dinner and Bottomless Wine

3 hours 30 minutesFree Cancellation

Special Offer

Discover MORE MADRID IN LESS TIME comfortably, ecologically and exclusively aboard an electric tuk-tuk with expert guidance. Ideal for first-time visitors or those who want to rediscover the city, this tour offers a panoramic experience of the best of Madrid. Explore the capital from the historic Madrid of the Austrias, with the Royal Palace, the Almudena Cathedral and the ancient Muslim Wall, to the heart of the village, where the Plaza Mayor, San Miguel Market and its iconic neighborhoods vibrate. Let yourself be captivated by the elegance of the Prado Museum, the Fountain of Cibeles, the Alcala Gate and the Retreat, merging with the modernity of the Santiago Bernabeu Stadium and the Bullring, until you reach the serenity of the Temple of Debod and the Madrid Rio area. Enjoy local recommendations, learn curious facts and capture unforgettable photos as you explore iconic streets, historic squares and hidden gems. BOOK NOW and experience Madrid like never before!

More Madrid in less time: Tour in Tuk Tuk Electric

1 to 4 hoursFree Cancellation

Join this tour to make the most of your visit. First of all, you will skip the main line and save time entering through the groups exclusive access, and secondly, being part of our reduced or private groups will allow you a more fluent communication with the guide. Larger than Buckingham Palace or Versailles, this impressive building has over 3400 rooms, and is one of the largest royal palaces in the world. While you focus on enjoying, our guide will make sure you don’t miss any detail of the richly decorated baroque interior, original from the 17-to the 1900’s. We will explore approximately 25 rooms where the Spanish royal family used to live, and comment some of the most extraordinary events and anecdotes concerning their lives. On this tour you will improve your knowledge about the history of Spain, be inspired by an overwhelming decoration and amaze yourself with the grandeur of each room.

Madrid Royal Palace Private Tour

1 hour 30 minutes to 1 hour 40 minutesFree Cancellation

Explore the rich history of Toledo, a UNESCO World Heritage Site, on a small-group tour from Madrid with personalized attention. Discover the city's unique blend of Christian, Jewish, and Muslim cultures with an expert guide. Begin your journey with a panoramic viewpoint offering stunning views of Toledo's skyline, then follow your guide through the medieval streets of the old town to its most important landmarks. Visit the Primatial Cathedral, the Church of Santo Tomé, home to El Greco's masterpiece *The Burial of the Count of Orgaz*, and the historic Synagogue of Santa María la Blanca. - Small-group tour for personalized attention and comfort - Panoramic views of Toledo from a scenic viewpoint - Visit major landmarks including the Cathedral, Santo Tomé, and Santa María la Blanca - Admire El Greco’s masterpiece *The Burial of the Count of Orgaz* - Hotel pickup and comfortable round-trip transport from Madrid

Toledo Half-Day Small Group Tour with Hotel Pickup from Madrid

5 hours 30 minutesFree Cancellation

Discover the magnificence and history of the Royal Palace of Madrid, a symbol of Spanish culture and tradition. Known as *Palacio Real*, this architectural gem hosts official ceremonies and boasts 3,000 rooms filled with treasures like Goya's art, frescoed halls, and lush gardens. A guided tour promises an unforgettable journey through Spain's rich royal legacy. The guides are professionals with a deep understanding of history and culture. You learn in an active and memorable way, making the experience even more enriching. The team is always available to answer questions and address any needs before and during the tour.

Madrid: Guided Tour of the Royal Palace

2 hoursFree Cancellation

Discover two of Spain’s most iconic landmarks on this El Escorial and Valley of the Fallen half-day tour from Madrid, combining royal history, monumental architecture, and scenic landscapes in one seamless experience. Travel comfortably from Madrid with a professional guide and enjoy a well-organized itinerary designed to maximize your time. Begin at the Royal Monastery of El Escorial, a UNESCO World Heritage Site built by King Philip II as a royal palace, monastery, and pantheon. With skip-the-line access, explore highlights such as the Basilica, Royal Pantheon, Royal Library, and historic royal rooms. Continue to the Valley of the Fallen (Cuelgamuros), crowned by the world’s tallest Christian cross (150 meters). Visit the basilica carved into the mountain and discover its history and significance. An ideal half-day experience from Madrid with expert guidance and no waiting times.

El Escorial and Valley of the Fallen Half Day Trip from Madrid

5 hours 15 minutesFree Cancellation

Embark on an unforgettable food tour in Madrid like a local, where authenticity and genuine Spanish flavors take center stage. Unlike typical touristy experiences, our carefully curated tour leads you to five different local gems, ensuring an immersive culinary adventure. Each stop is within walking distance, making it a relaxed and enjoyable way to explore the city's flavors. We prioritize visiting traditional establishments, where you'll get a true taste of authentic dishes. Engage with the locals and feel like part of the community as you share in their culinary delights. On this journey through 5 cozy local eateries, we will treat you to Madrid’s famous calamari, followed by tapas of jamón ibérico and Spanish tortilla. Next, indulge in the best mushrooms paired with refreshing sangria in a hidden gem. Later, savor the rich flavors of vermut, Spain’s beloved aperitif wine. Finally, enjoy croquetas, one of Spain’s most famous tapas, perfectly paired with a glass of Spanish wine.

Madrid Food Tasting Tour of Hidden Gems (Small Groups)

3 hoursFree Cancellation

Madrid Prado Museum Private Guided Tour for Kids and Families

1 hour 30 minutesFree Cancellation

Toledo and Segovia Private Tour with Hotel Pick up from Madrid

10 hoursFree Cancellation

Go sightseeing in Madrid on a Segway, the personal transportation device that provides a fun ride. Choose from a range of tour durations, all led by a knowledgeable private guide who provides full instruction on Segway operations; no prior experience is needed. The shortest tour takes in highlights including the Almudena Cathedral and the Royal Palace of Madrid; others add in sights like the Temple of Debod and Retiro Park.

Segway Private Tour in the Historic Center of Madrid

Segway Private Tour in the Historic Center of Madrid

1 to 3 hoursFree Cancellation

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

Escape the crowds on this exclusive tour of the Prado before official opening hours. Enter the museum one hour before opening with just your group and an art historian guide. See Las Meninas, The Garden of Earthly Delights, Goya’s Black Paintings, and other icons of Spanish and European. Take time to enjoy not just the incredible art but the beautiful building itself in peace and quiet. Images created by Walks in partnership with the Museo Nacional del Prado

Prado Museum Before Opening Tour VIP Small Group

Prado Museum Before Opening Tour VIP Small Group

1 hour 40 minutesFree Cancellation

Segway Tour Madrid monumental

1 hour 30 minutesFree Cancellation

...

4 5 6

...

Must-Dos in Madrid

1 / 2

What are people saying about Madrid

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

Bob_F, Oct 2026

Great tour and well worth it!

This tour was well worth it. We booked last minute (24 hours before) and thoroughly enjoyed it. Our tour guide Won was excellent and gave detailed descriptions and stories about everything throughout the palace. The palace is pretty stunning and well displayed. The tour or the Armory at the end was great. I have never seen such well displayed suits of armor and weapons.

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

Mark_E, Oct 2026

Laura & Diego gave us an...

Laura & Diego gave us an incredible experience with this tour. The cities are picturesque with each one its unique features and character. Laura was the guide for our group and she managed the group in a professional and enthusiastic way. Her knowledge is vast and she is very approachable and always made sure we got the best experience. Would highly recommend.

Avila & Segovia Tour with Tickets to Monuments from Madrid

Jan_C, Oct 2026

Good tour, unfortunately with issues.

It was a very interesting tour, good guides - especially Laura......very professional. Unfortunately, no spare time at all during the very long day......yes we did do lunch in Segovia but even that had limited time as such & if you wanted free time to purchase anything you gave up lunch which was an issue as well as the restaurant chosen for that break was at good 10 minures from any actual shops. And there was zero free time in Avila.......except perhaps to grab a drink for the bus trip home. Once back into Madrid which was a late arrival of approx. 7.30pm........due to road blocks from police the guides / driver basically went as far as the road block & told us that was it.......cannot get you back to drop off location........which left us trying to work out our way back from a location we were not familiar with........disappointing given I have used Viator very often over the years......felt a real LACK OF RESPONSIBILITY being shown by the sub tour company!

Prado Museum Guided Tour with Skip-the-Line Ticket

Mary_P, Oct 2026

Museo del Prado

Having a guided tour offered skip the line entry.The museum spans multiple floors and wings and Frederico, our guide, plotted the most logical path, broke down the symbolism & historical background behind complex works by artists like Velázquez, Goya, El Greco, and Hieronymus Bosch rather than leaving me to stare at paintings alone.

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

Mimi_L, Oct 2026

Walking tour of the King’s Palace

We want to express our sincere appreciation to our wonderful tour guide for an excellent and memorable tour of the King’s Palace in Madrid. Her extensive knowledge of the palace, the Spanish monarchy, and the rich history behind its magnificent rooms and treasures was truly impressive. She explained everything with such clarity, enthusiasm, and passion that we gained a much deeper appreciation of Spain’s royal heritage. Her engaging presentation brought the palace’s history to life and made the entire experience both educational and enjoyable. We feel fortunate to have had such a knowledgeable and dedicated guide who made our visit so meaningful. Thank you for sharing your expertise and helping us create such wonderful memories of Madrid!

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Shantell_K, Oct 2026

Excellent way to have a thorough experience with lots of information

The guide we had was very informative, with perfect English. We do not typically book tours, but found there is so much to see and it helped us learn quite a bit without trying to read absolutely everything as the palace can be very busy and overwhelming.

Prado Museum Madrid Guided Tour with Skip the Line Ticket

Martina_C, Oct 2026

The best way to see The Prado Museum.

A fabulous tour. Highly recommend as you skip the line and then have an official Spanish Prado museum guide that takes you to see some of the most significant paintings. The headphones assisted with hearing. The museum has timed entry times so it was not overcrowded.

Tour Welcome Madrid in Eco Tuk Tuk Private with Local Guide

Lori_B, Oct 2026

We learned a LOT, great way to get an overview of a new city

Guillermo knew the heart of Madrid and shared it with us well in our short 2hrs. He talks a bit fast (ok, we had just come off the plane from across the Big Pond!), but we got most of it! Great suggestions for sights to follow up on, for restaurants - a variety to boot. He slipped in bits of history, story, and trivia.

Essential Flamenco: Pure Flamenco Show in the Heart of Madrid

Junay_B, Oct 2026

Just fantastic

This was an awesome end to my trip to Madrid. First of all, Marco...the gentleman who greeted us with white wine and sangria. Gracious and kind host. We had the best seats in the house because of him. Just awesome. The musicians were passionate and skilled, the two dancers were beautiful and enthralling. This was an awesome show. I highly recommend.

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

Kevin_J, Sept 2026

Wonderful all day tour!

What a great day! Both Toledo and Segovia were absolutely worth the trip to see! Both were gorgeous! It is a long day but you do you are out of the bus long enough at each stop that it isn’t too bad. The longest drive was between the two cities and that was about 2 hours. Enrique was our guide and he was amazing! Super personable and a wealth of knowledge! He provided great background on both cities and the sights in each and was always willing to answer questions. You get a little bit of free time at the beginning of Toledo to get some breakfast/coffee and then most of the rest of the time is a guided tour through the city which was great! And then we again got free time at the beginning of Segovia for lunch. We personally just ate in the city as there were lots of options. Then the rest of the time was a guided tour through the city with some free time in the cathedral and castle. Great experience!

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.