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 →

9-Day Madrid, Andalusia with Cordoba, Costa del Sol & Toledo

Enjoy our English Only itinerary of 9 days, in which you will discover the most emblematic places from Madrid and Andalusia. This package includes accommodation …More

4.0 (9)

9-Day Madrid, Andalusia with Cordoba, Costa del Sol & Toledo

Enjoy our English Only itinerary of 9 days, in which you will discover the most emblematic places from Madrid and Andalusia. This package includes accommodation...

9 days

4.0 (9)

from
$2,279

2-Day Guided Tour to Cordoba and Seville from Madrid

Discover two of the most beautiful cities in southern Spain: Seville and Cordoba. Travel to Andalusia from Madrid by bus and enjoy these cultural trip with …More

4.3 (3)

2-Day Guided Tour to Cordoba and Seville from Madrid

Discover two of the most beautiful cities in southern Spain: Seville and Cordoba. Travel to Andalusia from Madrid by bus and enjoy these cultural trip with...

2 days

4.3 (3)

from
$428

10-Day Andalusia and Morocco from Madrid

Experience the best of Spain with a knowledgeable professional guide. Explore the vibrant cities of Sevilla and Cordoba, the picturesque town of Ronda, and the …More

5.0 (1)

10-Day Andalusia and Morocco from Madrid

Experience the best of Spain with a knowledgeable professional guide. Explore the vibrant cities of Sevilla and Cordoba, the picturesque town of Ronda, and the...

10 days

5.0 (1)

from
$1,845

7 day guided tour in Seville, Granada and Barcelona from Madrid

Discover Spain: 7-Day Guided Tour from Madrid to Barcelona Embark on an extraordinary seven-day journey across Spain, where history, culture, and breathtaking scenery come together …More

4.5 (4)

7 day guided tour in Seville, Granada and Barcelona from Madrid

Discover Spain: 7-Day Guided Tour from Madrid to Barcelona Embark on an extraordinary seven-day journey across Spain, where history, culture, and breathtaking scenery come together...

7 days

4.5 (4)

from
$1,374

Madrid Scavenger Hunt & Highlights Self-Guided Walking Tour

The Best Way to Discover Madrid: Scavenger Hunt & Self-Guided Tour. Play, learn, and walk! Explore at your own pace with a 100% self-guided activity. …More

5.0 (1)

Madrid Scavenger Hunt & Highlights Self-Guided Walking Tour

The Best Way to Discover Madrid: Scavenger Hunt & Self-Guided Tour. Play, learn, and walk! Explore at your own pace with a 100% self-guided activity....

3 hours Free Cancellation

5.0 (1)

from
$3

4-Day Guided Tour Green Spain from Madrid

Live 4 days in the green zone of Spain visiting Bilbao, San Sebastian, Santander, Santillana, Covadonga, Oviedo and Salamanca in luxury coach with free wifi, first …More

5.0 (1)

4-Day Guided Tour Green Spain from Madrid

Live 4 days in the green zone of Spain visiting Bilbao, San Sebastian, Santander, Santillana, Covadonga, Oviedo and Salamanca in luxury coach with free wifi, first...

4 days

5.0 (1)

from
$628

Full Day Trip to Toledo and Segovia from Madrid

Feel like leaving the capital for quieter places? With this 12-hour guided tour, discover two World Heritages that hold a close connection. Always accompanied by …More

5.0 (1)

Full Day Trip to Toledo and Segovia from Madrid

Feel like leaving the capital for quieter places? With this 12-hour guided tour, discover two World Heritages that hold a close connection. Always accompanied by...

12 hours Free Cancellation

5.0 (1)

from
$84

Discover the magic of Toledo and Segovia on a private tour. Admire Roman history, cathedrals and aqueducts while enjoying a unique and personalized cultural experience. …More

5.0 (1)

Toledo and Segovia Private Tour

Discover the magic of Toledo and Segovia on a private tour. Admire Roman history, cathedrals and aqueducts while enjoying a unique and personalized cultural experience....

10 hours Hotel pickup offered Free Cancellation

5.0 (1)

from
$517

Discover Madrid in a Fun & Eco-Friendly Tuk-Tuk – Private Tour

Why choose us? Our first class attention is distinguished: passionate guides who know every corner and share anecdotes and curiosities to make your visit unique. …More

4.2 (5)

Discover Madrid in a Fun & Eco-Friendly Tuk-Tuk – Private Tour

Why choose us? Our first class attention is distinguished: passionate guides who know every corner and share anecdotes and curiosities to make your visit unique....

1 to 3 hours Free Cancellation

4.2 (5)

from
$137

Self-Guided Tour of Old Madrid for Kids and Families in English

Packed with challenges, quizzes and fantastic facts, this is a unique, self-guided tour especially designed to keep kids 8-15 excited and the whole family having …More

5.0 (1)

Self-Guided Tour of Old Madrid for Kids and Families in English

Packed with challenges, quizzes and fantastic facts, this is a unique, self-guided tour especially designed to keep kids 8-15 excited and the whole family having...

2 hours 30 minutes Free Cancellation

5.0 (1)

from
$22

This literary walking tour will take you to the places of the most famous artists of spanish literature like Lope de Vega and Cervantes. …More

5.0 (1)

Literary Tour of Madrid

This literary walking tour will take you to the places of the most famous artists of spanish literature like Lope de Vega and Cervantes....

90 to 120 minutes Free Cancellation

5.0 (1)

from
$23

Selfguided mystery hunt by The Royal Palace in Madrid

Our Mystery hunts are self-guided which makes you able to fit it in to your day, no matter what else you have planned. It also …More

4.3 (3)

Selfguided mystery hunt by The Royal Palace in Madrid

Our Mystery hunts are self-guided which makes you able to fit it in to your day, no matter what else you have planned. It also...

2 hours Free Cancellation

4.3 (3)

from
$44

Private Tour Segovia Essential From Madrid with Official Guide

This experience combines your official guide and private driver in one person, who will accompany you throughout the tour. Will travel exclusively with their group …More

5.0 (1)

Private Tour Segovia Essential From Madrid with Official Guide

This experience combines your official guide and private driver in one person, who will accompany you throughout the tour. Will travel exclusively with their group...

5 hours Hotel pickup offered Free Cancellation

5.0 (1)

from
$126

Embark on a captivating journey through Madrid’s iconic landmarks and hidden gems with our interactive self-guided tour app. From the majestic Palacio Real and the …More

3.5 (6)

Self Guided Walking City Tour in Madrid

Embark on a captivating journey through Madrid’s iconic landmarks and hidden gems with our interactive self-guided tour app. From the majestic Palacio Real and the...

4 hours 10 minutes

3.5 (6)

from
$3

3 Hour Private Bike Tour in Madrid with a Guide

On this private guided tour of Madrid you will enjoy more tailored experience by bicycle and visit places inaccessible to tour buses. Pedal through the …More

4.0 (4)

3 Hour Private Bike Tour in Madrid with a Guide

On this private guided tour of Madrid you will enjoy more tailored experience by bicycle and visit places inaccessible to tour buses. Pedal through the...

3 hours Free Cancellation

4.0 (4)

from
$75

TOLEDO VIP Tour: Complete official guided tour, Van from Madrid

-VIP Private visit to Toledo, this is the most extensive visit you may be offered from Madrid. -With Hotel Pick up from Madrid. -Tickets to …More

4.0 (2)

TOLEDO VIP Tour: Complete official guided tour, Van from Madrid

-VIP Private visit to Toledo, this is the most extensive visit you may be offered from Madrid. -With Hotel Pick up from Madrid. -Tickets to...

6 hours Hotel pickup offered Free Cancellation

4.0 (2)

from
$1,500

Self-Guided Tours In Madrid With 100 Captivating Audio Stories

Uncover the Magic of Madrid with Your Personal Audio Guide Tired of feeling touristy — but still want to experience Madrid? With 100 captivating audio …More

3.7 (3)

Self-Guided Tours In Madrid With 100 Captivating Audio Stories

Uncover the Magic of Madrid with Your Personal Audio Guide Tired of feeling touristy — but still want to experience Madrid? With 100 captivating audio...

1 to 8 hours

3.7 (3)

from
$3

Private Night Tour to Toledo from Madrid

If Toledo is a wonder by day, observing the illuminated city at night from the Mirador del Valle is simply spectacular. With the vehicle, we …More

3.0 (2)

Private Night Tour to Toledo from Madrid

If Toledo is a wonder by day, observing the illuminated city at night from the Mirador del Valle is simply spectacular. With the vehicle, we...

5 hours Hotel pickup offered Free Cancellation

3.0 (2)

from
$1,078

Sign up for this Sightseeing Tour and enjoy the most significant monuments that the Spanish capital has to offer in the company of one of …More

3.7 (3)

Sightseeing Segway Tour 1h30 in Madrid

Sign up for this Sightseeing Tour and enjoy the most significant monuments that the Spanish capital has to offer in the company of one of...

1 hour 30 minutes Free Cancellation

3.7 (3)

from
$44

With the Habsburg, Madrid begins its true splendor, since it is under this dynasty when the city becomes the capital of Spain. During the visit …More

4.0 (1)

Madrid of the Habsburg walking tour

With the Habsburg, Madrid begins its true splendor, since it is under this dynasty when the city becomes the capital of Spain. During the visit...

2 hours Free Cancellation

4.0 (1)

from
$57

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?