Top Madrid Walking Tours

Q: What are the best options for Madrid Walking Tours?

According to verified reviews on Cool Shore Excursions and TripAdvisor, the best Madrid Walking Tours are: Madrid: Royal Palace Semi-private tour Prado Museum Visit & Rooftop Drinks Private Tour Royal Palace of Madrid Private Tour with Tickets Madrid: Prado Museum Skip-the-line Guided Tour Private tour of the Royal Palace of Madrid

Q: What are the best kid-friendly options for Madrid Walking Tours Tours?

According to verified reviews on Cool Shore Excursions and TripAdvisor, the best kid-friendly Madrid Walking Tours are: Madrid Mysteries Legends Terror and More Madrid - Medieval to Modern Walking Tour (English) Madrid Historical Walking Tour Walking Tour of Madrid Modern Madrid City Highlights Walking Tour View all kid-friendly Tours →

Q: Which Madrid Walking Tours have Instant Confirmation?

Madrid Walking Tours with Instant Confirmation include: Medieval Madrid: Plaza Mayor, Arab Wall and Temple of Debod Madrid Essential : Puerta del Sol, Plaza Mayor and Royal Palace Madrid : Puerta del Sol, Plaza Mayor and Royal Palace Madrid : Gran Via, Cibeles, Paseo del Prado and Retiro Madrid : Barrio de las Letras, Cervantes and Plaza de Santa Ana View all Tours with Instant Confirmation →

Q: I need a ride! Which Madrid Walking Tours have Hotel Pickup?

No problem. These Madrid Walking Tours include Hotel Pickup: Guided tour of the Thyssen Museum in Madrid, entrance fees and pick-up at the hotel. Essential Madrid: Private Walking tour Toledo Best PRIVATE VIP PICK UP TOUR from Madrid 5h (HD) Toledo Jewish Heritage Private Tour with expert local guide Toledo Private Tour with Cathedral Skip the Line Ticket View all Tours with Hotel Pickup →

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 →

Explore the Instaworthy Spots of Madrid with a Local

Join a Local for a 90-minute visual exploration of Madrid, discovering the city's vibrant lifestyle and its most Instagrammable highlights. Spice up your socials as …More

5.0 (1)

Explore the Instaworthy Spots of Madrid with a Local

Join a Local for a 90-minute visual exploration of Madrid, discovering the city's vibrant lifestyle and its most Instagrammable highlights. Spice up your socials as...

1 hour 30 minutes Free Cancellation

5.0 (1)

from
$90

Authentic Madrid Tapas & Wine Tour with Local Guide

A Top-Rated, Fun Experience in a Non-Touristy Neighbourhood. Discover the real Madrid, away from the usual tourist crowds. 4 Drinks Included – A Full Meal, …More

5.0 (398)

Authentic Madrid Tapas & Wine Tour with Local Guide

A Top-Rated, Fun Experience in a Non-Touristy Neighbourhood. Discover the real Madrid, away from the usual tourist crowds. 4 Drinks Included – A Full Meal,...

2 hours 30 minutes Free Cancellation

5.0 (398)

from
$91

Panoramic Madrid Tour and Toledo Half-Day Trip from Madrid

Join us in this panoramic tour through the beautiful city of Madrid. See some of the most important sights in the city such as Plaza …More

3.5 (46)

Panoramic Madrid Tour and Toledo Half-Day Trip from Madrid

Join us in this panoramic tour through the beautiful city of Madrid. See some of the most important sights in the city such as Plaza...

8 hours Free Cancellation

3.5 (46)

from
$91

Get out of the city and see one of the most historic towns in Spain during this full-day tour of Toledo from Madrid. Enjoy a …More

5.0 (1)

Toledo Private Guided Tour from Madrid

Get out of the city and see one of the most historic towns in Spain during this full-day tour of Toledo from Madrid. Enjoy a...

7 hours Hotel pickup offered Free Cancellation

5.0 (1)

from
$91

Half-Day Madrid History and Legends Private Walking Tour with Hotel Pick Up

Fully Customizable 4-hour, private walking tour according to your preference. Your private guide is a native and local, professional guide with excellent reviews and years …More

4.9 (28)

Half-Day Madrid History and Legends Private Walking Tour with Hotel Pick Up

Fully Customizable 4-hour, private walking tour according to your preference. Your private guide is a native and local, professional guide with excellent reviews and years...

4 hours Hotel pickup offered Free Cancellation

4.9 (28)

from
$91

Madrid Food Tour: Tapas, Wine & Local Bars

Book a fun Madrid food experience with all the tapas and drinks included and get an inside look into the fascinating Spanish food culture. Streetwise …More

5.0 (538)

Madrid Food Tour: Tapas, Wine & Local Bars

Book a fun Madrid food experience with all the tapas and drinks included and get an inside look into the fascinating Spanish food culture. Streetwise...

3 hours 30 minutes Free Cancellation

5.0 (538)

from
$92

Prado Museum and Royal Palace Private Tour

Embark on a journey through Madrid's cultural wonders with our expert guides, exploring the iconic Royal Palace and the illustrious Prado Museum. Marvel at the …More

4.9 (23)

Prado Museum and Royal Palace Private Tour

Embark on a journey through Madrid's cultural wonders with our expert guides, exploring the iconic Royal Palace and the illustrious Prado Museum. Marvel at the...

4 hours

4.9 (23)

from
$92

Exclusive Private Tour of the Royal Gallery with Hotel Pickup

Don’t just visit Madrid like everyone else. Experience the Galería de las Colecciones Reales with a private guide who will provide personalized insights and expert …More

3.0 (1)

Exclusive Private Tour of the Royal Gallery with Hotel Pickup

Don’t just visit Madrid like everyone else. Experience the Galería de las Colecciones Reales with a private guide who will provide personalized insights and expert...

2 hours Hotel pickup offered Free Cancellation

3.0 (1)

from
$94

Private Tour in Reina Sofía Museum, Madrid

Visit Spain’s the most important modern art gallery, in a two hour tour which will allow you to see the most essential works of art. …More

5.0 (1)

Private Tour in Reina Sofía Museum, Madrid

Visit Spain’s the most important modern art gallery, in a two hour tour which will allow you to see the most essential works of art....

110 to 130 minutes Hotel pickup offered Free Cancellation

5.0 (1)

from
$95

Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum

Explore the best of Madrid with this expertly guided walking tour featuring skip-the-line tickets to the Royal Palace, one of Europe’s most breathtaking royal residences, …More

4.9 (956)

Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum

Explore the best of Madrid with this expertly guided walking tour featuring skip-the-line tickets to the Royal Palace, one of Europe’s most breathtaking royal residences,...

4 hours Free Cancellation

4.9 (956)

from
$95

Old Madrid Tapas & Wine Tasting Tour - Real Small Groups 8 Max

Join a member of the Spanish Wine Tasting Association and other English speakers (mainly couples) on a tour of Madrid’s oldest neighborhood. We will visit …More

5.0 (466)

Old Madrid Tapas & Wine Tasting Tour - Real Small Groups 8 Max

Join a member of the Spanish Wine Tasting Association and other English speakers (mainly couples) on a tour of Madrid’s oldest neighborhood. We will visit...

3 hours Free Cancellation

5.0 (466)

from
$95

Imperial Madrid: Royal Palace and the Habsburg dynasty in Madrid

Join us int his exclusive journey through Madrid's royal heritage with our private tour. Delve into 1.5 hours of regal splendor at the Royal Palace, …More

5.0 (6)

Imperial Madrid: Royal Palace and the Habsburg dynasty in Madrid

Join us int his exclusive journey through Madrid's royal heritage with our private tour. Delve into 1.5 hours of regal splendor at the Royal Palace,...

3 hours Free Cancellation

5.0 (6)

from
$96

Madrid Heritage: Old Town Walking & Royal Palace Private Tour

Discover the splendor of royal Madrid on a small-group journey through its most iconic landmarks. Walk the historic Habsburg quarter, explore the grand halls of …More

5.0 (4)

Madrid Heritage: Old Town Walking & Royal Palace Private Tour

Discover the splendor of royal Madrid on a small-group journey through its most iconic landmarks. Walk the historic Habsburg quarter, explore the grand halls of...

3 hours

5.0 (4)

from
$96

On this tour you will walk, together with a local guide, through the neighborhood of "La Latina" to discover its history through some of the …More

4.9 (33)

Madrid Tapas Tour with Food and Drink

On this tour you will walk, together with a local guide, through the neighborhood of "La Latina" to discover its history through some of the...

3 hours Free Cancellation

4.9 (33)

from
$97

Madrid Local Tapas & History Tour with Dinner

Discover Madrid through the eyes of a true local. Join a Spanish‑American native guide for an evening exploring three hidden Madrid tapas bars with a …More

4.9 (535)

Madrid Local Tapas & History Tour with Dinner

Discover Madrid through the eyes of a true local. Join a Spanish‑American native guide for an evening exploring three hidden Madrid tapas bars with a...

3 hours Free Cancellation

4.9 (535)

from
$97

Discover Spain’s emerging craft beer scene on this 3-hour craft-beer and tapas tour in Madrid. Enjoy a delicious variety of hand-crafted Spanish beers, made with …More

4.0 (4)

Craft-Beer and Tapas Tour in Madrid

Discover Spain’s emerging craft beer scene on this 3-hour craft-beer and tapas tour in Madrid. Enjoy a delicious variety of hand-crafted Spanish beers, made with...

3 hours Free Cancellation

4.0 (4)

from
$97

Private skip the line tour of one of the best art museum in Spain. Our expert tour guide will meet you in front of the …More

4.9 (10)

Private Guided Tour of the Prado Museum

Private skip the line tour of one of the best art museum in Spain. Our expert tour guide will meet you in front of the...

1 hour 30 minutes

4.9 (10)

from
$98

Madrid Tapas and Mysteries Walking Tour with Private Option

Embark on a journey through Madrid's mysteries, unveiling tales of lovers, criminals, and kings as you travel across historic streets. Explore the city's secrets, savoring …More

4.5 (13)

Madrid Tapas and Mysteries Walking Tour with Private Option

Embark on a journey through Madrid's mysteries, unveiling tales of lovers, criminals, and kings as you travel across historic streets. Explore the city's secrets, savoring...

5 hours Free Cancellation

4.5 (13)

from
$98

Private Tour: Prado Museum Tour with Skip-the-Line Access

Meanly for the quality of our guides, no compare with rest of professionals Skip the line at the Prado Museum in Madrid, and see some …More

4.3 (17)

Private Tour: Prado Museum Tour with Skip-the-Line Access

Meanly for the quality of our guides, no compare with rest of professionals Skip the line at the Prado Museum in Madrid, and see some...

1 hour 30 minutes

4.3 (17)

from
$98

Private Tour: Thyssen-Bornemisza Museum with Skip-the-Line Access

The Thyssen-Bornemisza Museum sits close to two of Madrid’s other famous museums to form part of the city’s ‘Golden Triangle’ of galleries. As home to …More

5.0 (2)

Private Tour: Thyssen-Bornemisza Museum with Skip-the-Line Access

The Thyssen-Bornemisza Museum sits close to two of Madrid’s other famous museums to form part of the city’s ‘Golden Triangle’ of galleries. As home to...

1 hour 30 minutes

5.0 (2)

from
$98