Top Madrid Historical & Heritage Tours

Q: Got any more Madrid trip ideas?

We sure do. Check out our curated lists of hand-picked Madrid Tours. Top 10 Madrid 2026 Senior-friendly tours Madrid The best tours and activities for culture lovers in Madrid Top Day Trips from Madrid Things to do in Madrid this summer View all Madrid Trip Ideas →

Q: What are the most popular styles of Tours and Activities in Madrid?

Based on our sales data over the past year, the most popular styles of tours and activities in Madrid are: Madrid Tours & Sightseeing Madrid Luxury & Special Occasions Madrid Luxury Tours Madrid Cultural & Theme Tours Madrid Walking & Biking Tours View all tour styles in Madrid →

See Madrid at your own pace on a 3-hour city tour with a private driver! With a flexible itinerary, you can see the sights that …More

4.0 (7)

Private Tour: Madrid City Tour

See Madrid at your own pace on a 3-hour city tour with a private driver! With a flexible itinerary, you can see the sights that...

3 hours Hotel pickup offered

4.0 (7)

from
$67

Retiro Park bike tour- Get transported to the XVI century

The biggest fleet to take the best of the baroque architecture of Retiro Park and its gardens. A present for your senses! …More

4.5 (2)

Retiro Park bike tour- Get transported to the XVI century

The biggest fleet to take the best of the baroque architecture of Retiro Park and its gardens. A present for your senses!...

2 hours Free Cancellation

4.5 (2)

from
$33

Private Tour: Cordoba Day Trip from Madrid by High-Speed Train

Be transported back in time on this full-day, private tour of the ancient city of Cordoba that includes round-trip train travel from Madrid. Discover the …More

5.0 (1)

Private Tour: Cordoba Day Trip from Madrid by High-Speed Train

Be transported back in time on this full-day, private tour of the ancient city of Cordoba that includes round-trip train travel from Madrid. Discover the...

8 hours

5.0 (1)

from
$398

Set out on a wonderful private tour of the stunning city of Toledo, a notable UNESCO World Heritage site. You will be impressed by the …More

5.0 (1)

Private Tour: Toledo from Madrid

Set out on a wonderful private tour of the stunning city of Toledo, a notable UNESCO World Heritage site. You will be impressed by the...

5 hours Free Cancellation

5.0 (1)

from
$913

(1 hour) Segway Madrid Tour. Perfect for people with limited time to spend. Visit the main attractions of Madrid such as Plaza Mayor, the Royal …More

5.0 (1)

Segway Tour Fast View

(1 hour) Segway Madrid Tour. Perfect for people with limited time to spend. Visit the main attractions of Madrid such as Plaza Mayor, the Royal...

1 hour Free Cancellation

5.0 (1)

from
$27

The Royal Palace & Prado Museum: A must in Madrid

I am a licensed guide and feel passion for my work. I have been guiding travelers from all around the world since 2001. On this …More

5.0 (1)

The Royal Palace & Prado Museum: A must in Madrid

I am a licensed guide and feel passion for my work. I have been guiding travelers from all around the world since 2001. On this...

6 hours Hotel pickup offered

5.0 (1)

from
$631

Historic Madrid: Exclusive Private Tour with a Local

Join a Local for a two-hour exclusive journey through Madrid, a can't-miss experience that invites you to admire historic landmarks, relive storied pasts, and dive …More

5.0 (1)

Historic Madrid: Exclusive Private Tour with a Local

Join a Local for a two-hour exclusive journey through Madrid, a can't-miss experience that invites you to admire historic landmarks, relive storied pasts, and dive...

2 hours Free Cancellation

5.0 (1)

from
$60

Lázaro Galdiano Museum E-Ticket with Audio Guide

Experience the Lázaro Galdiano Museum at your own pace with an e-ticket and a captivating self-guided audio tour on your phone. Receive your ticket by …More

4.0 (4)

Lázaro Galdiano Museum E-Ticket with Audio Guide

Experience the Lázaro Galdiano Museum at your own pace with an e-ticket and a captivating self-guided audio tour on your phone. Receive your ticket by...

1 hour 30 minutes Free Cancellation

4.0 (4)

from
$19

Madrid Ghost Quest: The Lost Soul of Velázquez

A black raven lands in the square. Its caw wakes you from your sleep on the church stairs. You are Diego Velázquez, the greatest painter …More

4.7 (3)

Madrid Ghost Quest: The Lost Soul of Velázquez

A black raven lands in the square. Its caw wakes you from your sleep on the church stairs. You are Diego Velázquez, the greatest painter...

75 to 100 minutes Free Cancellation

4.7 (3)

from
$8

Madrid’s Heritage: Private Prado and Reina Sofía Museum Tour

Experience a private journey through the artistic heart of a city with a History older than the United States. Guided by an expert, you’ll explore …More

5.0 (1)

Madrid’s Heritage: Private Prado and Reina Sofía Museum Tour

Experience a private journey through the artistic heart of a city with a History older than the United States. Guided by an expert, you’ll explore...

4 hours

5.0 (1)

from
$3,349

Private Tour Ávila - Segovia from Madrid with Tapas Route

We will leave in a private transport towards Avila and Segovia to visit 2 UNESCO World Heritage cities, from the walls of Ávila to the …More

5.0 (1)

Private Tour Ávila - Segovia from Madrid with Tapas Route

We will leave in a private transport towards Avila and Segovia to visit 2 UNESCO World Heritage cities, from the walls of Ávila to the...

8 to 10 hours Hotel pickup offered Free Cancellation

5.0 (1)

from
$511

The first Edecán is an official tourist guide specialized in military history by the UCM, providing the visit with highly specialized knowledge about the Napoleonic …More

5.0 (1)

Guided visit to Madrid May 2

The first Edecán is an official tourist guide specialized in military history by the UCM, providing the visit with highly specialized knowledge about the Napoleonic...

2 hours Free Cancellation

5.0 (1)

from
$56

Наша экскурсия Мадрид 15:15 - Самый интересный и выгодный вариант знакомства с Мадридом! Идеально подходит для тех кто впервые в Мадриде! …More

5.0 (1)

Excurcion Madrid 15:15

Наша экскурсия Мадрид 15:15 - Самый интересный и выгодный вариант знакомства с Мадридом! Идеально подходит для тех кто впервые в Мадриде!...

2 hours 30 minutes Free Cancellation

5.0 (1)

from
$34

Madrid Royal Palace: Private Historic Walking Tour

Experience centuries of royal legacy on this private walking tour of Madrid’s Historic Royal Palace, a landmark of classical architecture and enduring Spanish cultural heritage. …More

5.0 (1)

Madrid Royal Palace: Private Historic Walking Tour

Experience centuries of royal legacy on this private walking tour of Madrid’s Historic Royal Palace, a landmark of classical architecture and enduring Spanish cultural heritage....

2 hours

5.0 (1)

from
$1,499

Wonders of Madrid Private Guided City Tour for Kids and Families

Discover the highlights of Madrid with an experience designed to be enjoyed by families with children on this 2.5 –hour tour. You will walk around …More

5.0 (1)

Wonders of Madrid Private Guided City Tour for Kids and Families

Discover the highlights of Madrid with an experience designed to be enjoyed by families with children on this 2.5 –hour tour. You will walk around...

2 hours 30 minutes

5.0 (1)

from
$29

Architectural Madrid: Private Tour with a Local Expert

Join a Local Expert for a two-hour exclusive journey through Madrid's architecture, a can't-miss experience where historic heritage meets modern design, and every building tells …More

5.0 (1)

Architectural Madrid: Private Tour with a Local Expert

Join a Local Expert for a two-hour exclusive journey through Madrid's architecture, a can't-miss experience where historic heritage meets modern design, and every building tells...

2 hours Free Cancellation

5.0 (1)

from
$571

Guided tour of the Thyssen Museum in Madrid, entrance fees and pick-up at the hotel.

Travel through the history of Western art with a private tour of the Thyssen-Bornemisza Museum, conceived as a true thread between eras and styles. What …More

5.0 (1)

Guided tour of the Thyssen Museum in Madrid, entrance fees and pick-up at the hotel.

Travel through the history of Western art with a private tour of the Thyssen-Bornemisza Museum, conceived as a true thread between eras and styles. What...

2 hours Hotel pickup offered Free Cancellation

5.0 (1)

from
$17

Magnificent El Escorial and Unique Segovia

Discover 2 World Heritage Sites by Unesco in one day - Full Day Tour from Madrid A visit to the Monastery of San Lorenzo de …More

5.0 (1)

Magnificent El Escorial and Unique Segovia

Discover 2 World Heritage Sites by Unesco in one day - Full Day Tour from Madrid A visit to the Monastery of San Lorenzo de...

7 hours 30 minutes Hotel pickup offered Free Cancellation

5.0 (1)

from
$574

Discover two of Spain’s most iconic cities in one unforgettable day. Travel comfortably from Madrid and experience the perfect combination of history, culture, and breathtaking …More

4.2 (5)

Full Day Tour to Toledo and Segovia

Discover two of Spain’s most iconic cities in one unforgettable day. Travel comfortably from Madrid and experience the perfect combination of history, culture, and breathtaking...

11 hours Free Cancellation

4.2 (5)

from
$67

Kid-Friendly Madrid Prado Museum Private Tour

Discover the wonders of the Prado Museum in Madrid on a tour specially designed for kids and families. Led by a kid-friendly guide, this adventure …More

5.0 (1)

Kid-Friendly Madrid Prado Museum Private Tour

Discover the wonders of the Prado Museum in Madrid on a tour specially designed for kids and families. Led by a kid-friendly guide, this adventure...

2 hours

5.0 (1)

from
$61

Frequently Asked Questions

These answers are based on answers previously given to Cool Shore Excursions customers' questions.

What are the best options for Madrid Historical & Heritage Tours?

What are the best kid-friendly options for Madrid Historical & Heritage Tours Tours?

According to verified reviews on Cool Shore Excursions and TripAdvisor, the best kid-friendly Madrid Historical & Heritage Tours are:

View all kid-friendly Tours →

Which Madrid Historical & Heritage Tours have Instant Confirmation?

Madrid Historical & Heritage Tours with Instant Confirmation include:

View all Tours with Instant Confirmation →

Which Madrid Historical & Heritage Tours have Free Cancellation?

Madrid Historical & Heritage Tours with Free Cancellation (in most cases up to 24 hours in advance of your tour date, check the specific tour page) include:

View all Tours with Free Cancellation →

I need a ride! Which Madrid Historical & Heritage Tours have Hotel Pickup?

No problem. These Madrid Historical & Heritage Tours include Hotel Pickup:

View all Tours with Hotel Pickup →

Got any more Madrid trip ideas?

What are the most popular styles of Tours and Activities in Madrid?