Madrid
Sightseeing Walking Tours

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Our most recommended Madrid Sightseeing Walking Tours

Madrid: Royal Palace Skip-the-Line Guided Tour

1. Madrid: Royal Palace Skip-the-Line Guided Tour

Embark on a guided 2-hour tour of Madrid's Royal Palace. Admire art pieces by Giordano and Goya while exploring the palace at a peaceful time of day alongside an expert guide with in-depth knowledge about the home to Spanish Royals past and present.  Start at the Opera Metro Station in Plaza de Isabel II, home to the Teatro Royal, where you will meet your guide. After a picturesque walk through Plaza de Oriente, enjoy skip-the-line privileges before entering the palace. Relish visits to the Throne Room, Banquet Hall, and Private Royal apartments. Be amazed as to how these rooms are brought to life in an engaging and fascinating way by your professional guide. Marvel at exclusive works of art by Giordano and Goya, as well as historical articles such as historic tapestries, suits of armor, and ornate swords. Take in in the building's 19th-century design and beautiful floral layout, which serves as an excellent backdrop for memorable photos. After the guided visit, feel free to take a relaxing stroll on your own through the Royal Gardens and visit other highlights such as the Royal Armory and Pharmacy.

Madrid: Avila and Segovia Day Trip with Tickets to Monuments

2. Madrid: Avila and Segovia Day Trip with Tickets to Monuments

Take a day trip from Madrid to visit two of Spain's oldest cities, Avila and Segovia. Explore the rich history of these UNESCO-listed cities with a guide. Admire Avila's walls, cathedral, and Basilica of San Vicente. Then continue to Segovia's Roman aqueduct, Gothic cathedral, and Alcazar fortress. Drive for an hour from Madrid and find yourself in Avila. See the stunning 11th-century walls surrounding the city. These fortifications are the most complete in all of Spain. Next, visit the interior of the Basilica of San Vicente to see the best examples of Romanesque architecture in the country. Pass by the Plaza Mayor and the Cathedral. At your next stop, enter the church-convent of Saint Teresa of Jesus that was built by the Order of the Discalced Carmelites in the 17th century, supposedly in the same place where Saint Teresa of Avila was born. Following the visit to Avila, enjoy free time to have wine, beer, soft drink, and an aperitif or continue exploring the city on your own. Regroup at 2 PM to head to the city of Segovia. Begin your tour of Segovia with a visit to its main symbol, the Roman Aqueduct, as evidenced by its presence on the city's coat of arms. Pass by the Casa de los Picos, Plaza de Juan Bravo and Plaza Mayor. Arrive at the cathedral dedicated to Our Lady of the Assumption and of San Frutos. Enter to see its size, elegance, blend of late Gothic style and Renaissance features, to understand why it's called the Lady of the Cathedrals. Finally, go into the Fortress of the Alcazar of Segovia, a medieval castle, located on a rocky crag on the confluence of 2 rivers near the Sierra de Guadarrama. Witness one of Spain's most distinctive castle-palaces by virtue of its shapes, such as the bow of a ship or its likeness to Cinderella's Castle. After the visit, start the trip back to Madrid in a comfortable bus.

Madrid: Toledo and Segovia Guided Tour with Alcázar Ticket

3. Madrid: Toledo and Segovia Guided Tour with Alcázar Ticket

Immerse yourself in the history, architecture, and cultural delights of Toledo, Segovia and visit the historic and beautiful Alcázar. Choose between a shared or private tour experience departing from Madrid. Your journey into Toledo begins with a breathtaking view of the city at the Mirador del Valle, a perfect opportunity to snap a stunning panoramic photo. As you enter the old district of Toledo, a walking tour will guide you through the historical Jewish quarter. The second half of your excursion takes you to the historical city of Segovia, a UNESCO World Heritage site. Admire the impressive Roman aqueduct, its impressive cathedral, and marvel at the architecture from ancient Roman and medieval times.  Saving the best for last, you’ll be led to the Segovia Alcazar, one of Spain's most famous castles from the 12th century. Afterward, take some time to explore the city on your own, along with insider tips from your guide to discover hidden gems. 

Madrid: Prado Museum Guided Tour

4. Madrid: Prado Museum Guided Tour

Meet your guide at the Goya Statue outside the Prado Museum and begin your guided tour of its vast collection.  See the work of a variety of great European artists such as Velázquez, El Greco, Goya, Tiziano, Rubens, and El Bosco. Discover some of the collections on display, which date from the Romanesque period to the 19th century. The museum contains more than 8,000 paintings, 9,000 drawings, 5,500 prints, and over 900 sculptures. See some of the 1,300 works currently on display in the main building. Learn about the history of European art, and the story behind some of the works on display.

Madrid: Full-Day Guided Tour of Toledo with Cathedral Visit

5. Madrid: Full-Day Guided Tour of Toledo with Cathedral Visit

Discover the treasures of Toledo on a guided day tour from Madrid. Soak up the views of the medieval city from the Mirador del Valle and withness El Greco's masterpiece in the Church of Santo Tomé. Depart from Madrid and travel to the Mirador del Valle. Here, admire the views of Toledo from across the Tagus River. Next, head to Toledo's historical center, recognized as a UNESCO world heritage site. Learn about the coexistence of Jews, Christians, and Muslims who shaped the city over the centuries from your guide. Step into the Church of Santo Tomé, and see El Greco's "The Burial of Count Orgaz." Continue to the Synagogue of Saint Mary and finish your tour at the imposing Primada Cathedral.

From Madrid: Avila and Segovia Full-Day Tour

6. From Madrid: Avila and Segovia Full-Day Tour

Discover the historic sites and monuments in Avila and Segovia on a guided day trip from Madrid. Admire the exterior of the Ávila Walls and see the Roman Aqueduct. Begin in downtown Madrid and travel to the cities of Avila and Segovia by comfortable coach. See the exterior of the Ávila Walls that surround the city that was completed in just 10 years, between the 11th and 14th centuries. Then, visit the interior of the Basilica of San Vicente known as The Basilica of the Holy Brothers Martyrs, Vicente, Sabina, and Cristeta. Pass through the Plaza Mayor and the Cathedral to reach the Church-convent of Santa Teresa and explore the interior of its Church. Once the visit to Ávila is finished, enjoy free time to have a wine, a soft drink, and an aperitif and to have lunch or continue visiting the city. Go to the city of Segovia and visit the Roman Aqueduct, which is the highest and best-preserved. Pass through the Casa de los Picos, Plaza de Juan Bravo, and Plaza Mayor where you'll find the Cathedral, dedicated to Our Lady of the Assumption and of San Frutos. Finish at El Alcázar de Segovia, a medieval fortress, located on a rocky crag on the confluence of two rivers near the Sierra de Guadarrama, it is one of the most distinctive castles-palaces in Spain by virtue of its shape, like the prow of a ship.

Madrid: The Original Tapas Crawl

7. Madrid: The Original Tapas Crawl

Take part in an exciting outing with your knowledgeable local guide who will show you the best tapas Madrid has to offer. This 2.5-hour tapas crawl will allow you to visit 4 locations, including a market cuisine restaurant, a well-known ice-cold beer bar for locals, a new slow food tavern, and a one-century old bodega in a high-quality and non-touristy tapas area. Feel like a local as you dine amongst true Madrileños. Learn from a local guide who will share with you their years of knowledge and insights into the area. Your guide is also well acquainted with many of the families that own the businesses, giving you special insight into what makes their version of tapas so special. There is a lot of food on this tour, up to 12-15 tapas servings, so make sure you come hungry!

Prado Museum Skip-the-Line Tour and optional Tapas Tasting

8. Prado Museum Skip-the-Line Tour and optional Tapas Tasting

Discover masterpieces of art on a skip-the-line guided tour of the Prado Museum and explore the galleries of Spain's national art museum, located in the museum district of central Madrid. Widely considered to have one of the world's finest collections of European art from the 12th to the early 20th century, the Prado Museum also boasts the single best collection of Spanish art in the world. Founded as a museum of paintings and sculptures in 1819, it was enlarged by the addition of short pavilions at the rear of the magnificent building between 1900 and 1960. See masterpieces by Francisco Goya, Hieronymus Bosch and Peter Paul Rubens, along with acclaimed paintings by El Greco, Titian and Diego Velázquez. Journey through the story of Spanish and European art through the centuries and get expert explanations along the way. If you select the tapas tasting option, following the tour of Prado Museum, you will then walk through the city to one of the most important bars in Madrid where you will have the opportunity to taste several tapas of Spanish food. Spain is internationally renowned for its gastronomy and is proud of its rich culture and culinary history. Discover the traditional tapas of Spain and experience the food culture of Madrid like a local. Here your tour will finish, leaving you with the opportunity to walk through the center of Madrid.

Royal Palace of Madrid Skip-the-Line Guided Tour

9. Royal Palace of Madrid Skip-the-Line Guided Tour

Explore the Royal Palace of Madrid (Palacio Real de Madrid) with a licensed guide, and discover the former official residence of the Spanish Royal Family with your direct entry access. Also known as the "Palacio de Oriente" due to its close proximity to Plaza de Oriente on the east side of the palace, today the building is used exclusively for receptions, ceremonies, and official events. The Palace has an extensive collection of upholstery, porcelain, antique clocks, armor and works of art including paintings by Goya and Velázquez. You can also stroll through some of the private rooms where royalty lived, the throne room and the royal dining rooms, as well as the mirror room of Charles IV's reign. Admire the rich ornamentations of official rooms, each one revealing its own personality. Visiting the Royal Throne room, the Gala Dinner room and the Royal Chapel.

Toledo: Full Day Trip From Madrid

10. Toledo: Full Day Trip From Madrid

Enjoy a comprehensive visit to the magical city of Toledo, a UNESCO world heritage site famous for narrow medieval streets, beautiful architecture and rich history. Mixing diverse Christian, Jewish and Muslim backgrounds, this city is known as the Imperial City for having been the seat of the court of King Charles I and associated with the life and works of Miguel de Cervantes. Discover the architecture and history of this city, exploring the Jewish Quarter as well as every essential monument and building. Alternately, if you want to sat back and enjoy a beer or some lunch on a beautiful terrace, you will also have plenty of time to do so. At the end of your Toledo tour you will return to central Madrid on a comfortable bus.

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What people are saying about Madrid

Overall rating

4.4 / 5

based on 5,060 reviews

Excellent guide with easy meeting point. Wonderful tour, could not have navigated this museum without the guidance of this art historian. Also appreciated the amplifier given to hear the guide. Highly recommend !

The tour was excellent. The guide Alex was lot of fun. He made things very interesting & took care of all the tourists as if they were his guests

It was an amazing magical experience. We came in with no previous research on Toledo so it was all just completely breathtaking.

Great guide. We were lucky to enjoy a nice weather. Beautiful cathedral. Definitely a must to visit Toledo - full day.

It was a wonderful experience and the guide was exceptional. His presentation fascinated me.