All Madrid Tours &amp; Excursions in 2026

Andalusia 5-Day Guided Tour from Madrid via Cordoba

5 daysFree Cancellation

Learn and engage more with the exhibits at the Thyssen-Bornemisza National Museum with this shared museum tour. Meet your guide at the museum, get your audio device set up, and begin your tour of the Thyssen art museum. Gain a deeper understanding of the artwork of this museum, which includes pieces by Rembrandt, Degas, and Dürer, through interactions with your guide such as asking questions.

Madrid Thyssen Museum Small Group Guided Tour

1 hour 30 minutesFree Cancellation

Centro Cultural Flamenco Madrid Admission Ticket

50 minutes to 1 hourFree 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

1 to 3 hoursFree Cancellation

Uncover the rich history and cultural charm of Toledo, Spain’s medieval gem, on this full-day trip from Madrid. Relax on a comfortable, air-conditioned coach as your guide brings the city’s fascinating heritage to life. Visit top landmarks such as the Toledo Cathedral and Iglesia de Santo Tomé, home to El Greco’s masterpiece. After the guided portion, enjoy free time to wander Toledo’s narrow streets, explore artisan shops, or take in sweeping views from the city’s hilltop vantage points. This tour is the perfect blend of structure and independence, offering a hassle-free way to experience one of Spain’s most captivating cities.

Toledo Day Trip from Madrid with Guided Tour and Free Time

8 hours 30 minutesFree 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

Madrid Food Tour: Tapas, Wine & Local Bars

3 hours 30 minutesFree Cancellation

Discover why this tour won the TRIPADVISOR TRAVELERS' CHOICE AWARD 2025! If you are staying in Madrid, you cannot miss the opportunity of visiting the Santiago Bernabeu Stadium. In this iconic place, you will have the chance to see the fourteen Champions won by the Real Madrid football club. But that´s not all! You will admire the new and renovated stadium! You will have access to both museum and Bernabeu stadium, where you will learn about Real Madrid's history. Throughout the way inside the places, you will contemplate the audiovisual content and all the trophies the club has won! You will feel like a real footballer, stepping into the real playing field and walking around the iconic football changing rooms. You just have to select the date that best suits you, and then you will be able to discover all the secrets that Santiago Bernabeu hides! But bear in mind that there is limited capacity each day, so you must be quick enough to buy the tickets.

Santiago Bernabéu Stadium Admission Ticket

1 to 2 hoursFree Cancellation

Travelers that want to avoid the typical, cookie cutter Madrid bus tour shouldn't miss this alternative sightseeing experience, where you get to bike around the historic city. Follow your guide on a ride through open plazas and down cobblestoned streets, with the wind in your hair as you go. Don't miss highlights like the Royal Palace of Madrid and Almudena Cathedral, and discover the Lavapies district, which is loved by locals for its weekly flea market.

Highlights of Madrid: Guided Bike or E-Bike Tour in Small Groups

3 hoursFree Cancellation

Segway Tour Madrid monumental

1 hour 30 minutesFree 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

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

10 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

From Madrid: Ávila & Salamanca Guided Tour with Wall & Cathedral

11 hoursFree Cancellation

Madrid Expert Tour Plus in Eco Tuk Tuk Private

2 to 4 hoursFree Cancellation

One-way Private Transfer From/To Madrid Airport

10 to 25 minutesFree 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

Step into the untold history of Madrid and discover the deep, enduring legacy of Black communities in Spain. "Roots & Resistance" is an eye-opening journey through the hidden narratives of African heritage, resilience, and cultural contributions that have shaped the city for centuries. From the powerful presence of the Moors, whose rule for over 700 years left an indelible mark on Spain’s architecture, language, and knowledge systems, to the often-overlooked stories of enslaved Africans who lived, labored, and resisted in Madrid—this tour sheds light on a past that history books often omit. We will explore the city's colonial connections, tracing how Spain’s empire thrived on the exploitation of African labor in the Americas and how the wealth generated from slavery influenced Madrid’s rise as a global power.

Roots and Resistance: A Black History Tour of Madrid

Roots and Resistance: A Black History Tour of Madrid

2 hoursFree 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

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

1 hour 40 minutesFree Cancellation

Escorial Monastery and the Valley of the Fallen from Madrid

5 hours 30 minutesFree Cancellation

Madrid: 3 hour Guided Highlights Bike Tour with Optional Tapas

3 hoursFree Cancellation

Experience the soul of flamenco at Cardamomo, Madrid's most celebrated tablao and the only one recommended by The New York Times. Since 1994, we have been showcasing authentic flamenco in an intimate venue steps from Puerta del Sol. Four daily shows at 18:00, 19:30, 21:00 and 22:30, each featuring over 8 professional dancers, singers and musicians. With a capacity-limited venue, every seat puts you close to the art.

Cardamomo Authentic Flamenco Show in Madrid City Center

1 hourFree Cancellation

Madrid travelers who want a great overview of the city—without the typical bus sightseeing experience—shouldn't miss this small-group bike tour to Madrid's top sights. Hop on your included bike, follow your guide, and enjoy the sun on your face as you see more of the city in only a few hours. Pass highlights like the Almudena Cathedral, Royal Palace of Madrid, and must-see Retiro Park.

Madrid Gems E-Bike Tour - Small Groups

3 hours 15 minutesFree Cancellation

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Must-Dos in Madrid

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What are people saying about Madrid

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

Eve_S, Oct 2026

First time

First time booking with Viator and it was great! We booked b/c tickets direct from the Palace were already sold out but Viator still had space on a small group tour. Our guide was very knowledgeable and all logistics were smooth. It was fun! I will definitely consider Viator for future tours.

Prado Museum Guided Tour with Skip-the-Line Ticket

Kim_H, Oct 2026

I was in town for a...

I was in town for a meeting and had very limited time to see the highlights. Sara was a very knowledgeable tour guide. She took the group through the most important things to see. She shared information about history as well as the art. She was very engaging and the 2 hours was the perfect amount to feel like I hit the important works of art.

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

Susan_B, Oct 2026

Excellent two city tour

Excellent trip with Federico an excellent guide. As the trip was popular it was split between 2 guides, one English speaking, the other Spanish. Therefore the group size was manageable. There were problems with the AC on the way back and the driver worked hard to resolve it. Well done to him too. The cities are beautiful. The trip is long but worth it.

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

Erica_C, Oct 2026

Great Tour with Jesus!

My family and I had a wonderful experience on the Madrid Palace tour with Jesus! He was very friendly, incredibly knowledgeable, and kept the tour entertaining from start to finish. His passion for the history really came through, and he did a great job bringing the palace and its stories to life. The tour was well thought out, flowed smoothly, and was perfectly paced, giving us plenty of time to appreciate everything along the way without feeling rushed. Jesus struck a great balance between sharing fascinating historical details and keeping things engaging and fun. We highly recommend this tour to anyone visiting 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.

Royal Palace of Madrid Small Group Skip the Line Ticket

Raymond_P, Oct 2026

Great tour

Great tour. Meet the guides at the companies office. We walked through the streets past the Plaza Mayor, the market and Mandy palaces. She gave a running commentary on what we were seeing and the history of Spain. When we arrived at the Royal Palace once again she provided interesting content on each of the rings we visited. Highly recommend.

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.