Top Madrid Walking Tours

Q: Which Madrid Walking Tours have Instant Confirmation?

Madrid Walking Tours with Instant Confirmation include: Madrid’s Heritage: Private Prado and Reina Sofía Museum Tour Private Tour: Avila and Segovia from Madrid Toledo from Madrid Private Full-Day Guided Tour Madrid Royal Palace: Private Historic Walking Tour Andalusian Highlights: 6-Day Guided Tour from Madrid 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: Toledo from Madrid Private Full-Day Guided Tour TOLEDO VIP Tour: Complete official guided tour, Van from Madrid Toledo Private Guided fullday tour from Madrid Toledo Private Half Day Tour Cathedral Santo Tome and Synagoge Private Full-Day Madrid Tour with Entrance & Transfers Included 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 →

Madrid Royal Palace and Almudena Cathedral Guided Tour

On this tour you will enjoy two of the two most important monuments in Madrid. Royal Palace and Almudena Cathedral. …More

4.2 (75)

Madrid Royal Palace and Almudena Cathedral Guided Tour

On this tour you will enjoy two of the two most important monuments in Madrid. Royal Palace and Almudena Cathedral....

2 hours 30 minutes Free Cancellation

4.2 (75)

from
$61

Madrid Food Tour: Tapas, Drinks and Delights with a Local

With the Do Eat Better Madrid Food Tour through the city, you’ll have the opportunity to sample some of the region’s most famous products in …More

5.0 (329)

Madrid Food Tour: Tapas, Drinks and Delights with a Local

With the Do Eat Better Madrid Food Tour through the city, you’ll have the opportunity to sample some of the region’s most famous products in...

3 hours 30 minutes Free Cancellation

5.0 (329)

from
$61

Join this tour to make the most of your visit. First of all, you will skip the main line and save time entering through the …More

4.9 (42)

Madrid Royal Palace Tour - Semi private

Join this tour to make the most of your visit. First of all, you will skip the main line and save time entering through the...

1 hour 30 minutes Free Cancellation

4.9 (42)

from
$61

Prado and Reina Sofia Museums Private Tour

Private Tour with a licensed Guide who is also Art Historian. 2 hours Tour of Prado Museum. Combined with a 1,5 hours private Tour of …More

4.9 (7)

Prado and Reina Sofia Museums Private Tour

Private Tour with a licensed Guide who is also Art Historian. 2 hours Tour of Prado Museum. Combined with a 1,5 hours private Tour of...

3 hours 38 minutes Free Cancellation

4.9 (7)

from
$61

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

Madrid Private Food Walking Tour with 6 or 10 Tastings

Eat your way through Madrid's culinary scene on a private food tour. Go on a delicious journey as you try 6 or 10 of the …More

4.7 (238)

Madrid Private Food Walking Tour with 6 or 10 Tastings

Eat your way through Madrid's culinary scene on a private food tour. Go on a delicious journey as you try 6 or 10 of the...

3 hours Free Cancellation

4.7 (238)

from
$60

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

Toledo Half-Day Tour with St Tome Church & Synagoge from Madrid

Only Half Day Tour to Toledo Rated 5 Star - Certificate of Excellence Upon arrival we start with a panoramic walking tour of Toledo, into …More

4.6 (229)

Toledo Half-Day Tour with St Tome Church & Synagoge from Madrid

Only Half Day Tour to Toledo Rated 5 Star - Certificate of Excellence Upon arrival we start with a panoramic walking tour of Toledo, into...

5 hours Free Cancellation

4.6 (229)

from
$60

Private: Prado Museum and optional Royal Palace

Visit with your guide, in private, one of the most important art galleries and sculpture collections in the world with our guide. Learn about the …More

5.0 (3)

Private: Prado Museum and optional Royal Palace

Visit with your guide, in private, one of the most important art galleries and sculpture collections in the world with our guide. Learn about the...

2 hours Free Cancellation

5.0 (3)

from
$59

Toledo Day Trip From Madrid including Zip-line Ticket

If you like to travel at your own pace, we’ll take you to Toledo to enjoy a unique experience just the way you like the …More

3.8 (6)

Toledo Day Trip From Madrid including Zip-line Ticket

If you like to travel at your own pace, we’ll take you to Toledo to enjoy a unique experience just the way you like the...

7 to 9 hours Free Cancellation

3.8 (6)

from
$58

Our Silent Party in Madrid begins in the heart of the city at Puerta del Sol, where we’ll set the mood by handing out headphones …More

5.0 (1)

Madrid: Silent Party Experience

Our Silent Party in Madrid begins in the heart of the city at Puerta del Sol, where we’ll set the mood by handing out headphones...

3 hours Free Cancellation

5.0 (1)

from
$59

Madrid Essential Private Walking Tour of Iconic Landmarks

Unsure about what to explore in Madrid? Overwhelmed by the endless list of tourist spots? This tour offers a genuine and essential glimpse of the …More

5.0 (2)

Madrid Essential Private Walking Tour of Iconic Landmarks

Unsure about what to explore in Madrid? Overwhelmed by the endless list of tourist spots? This tour offers a genuine and essential glimpse of the...

4 hours Hotel pickup offered Free Cancellation

5.0 (2)

from
$57

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

Gastronomic Tour of the Taverns of Madrid

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

5.0 (4)

Gastronomic Tour of the Taverns of Madrid

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

1 hour 30 minutes Free Cancellation

5.0 (4)

from
$57

Small Group Skip-the-Line Tour of the Prado Museum

Here you'll understand the Prado Museum masterpieces. But, above all, you will also FEEL them. Because art is, more than anything, emotion. Using the experience …More

5.0 (370)

Small Group Skip-the-Line Tour of the Prado Museum

Here you'll understand the Prado Museum masterpieces. But, above all, you will also FEEL them. Because art is, more than anything, emotion. Using the experience...

2 hours Free Cancellation

5.0 (370)

from
$57

Royal Palace Madrid Small Group Tour with Skip the Line Ticket

Inside the Palace you will see the main structure of the Spanish Monarchy through the centuries. Flamboyant clocks, unbelievable decoration, the most subtlest kind of …More

4.9 (212)

Royal Palace Madrid Small Group Tour with Skip the Line Ticket

Inside the Palace you will see the main structure of the Spanish Monarchy through the centuries. Flamboyant clocks, unbelievable decoration, the most subtlest kind of...

1 hour 30 minutes Free Cancellation

4.9 (212)

from
$57

Segovia and Avila Guided Day Trip from Madrid

Take a tour from Madrid and discover these two unique cities with outstanding monuments roman as the Aqueduct, gothic, etc which brings you a full …More

4.3 (321)

Segovia and Avila Guided Day Trip from Madrid

Take a tour from Madrid and discover these two unique cities with outstanding monuments roman as the Aqueduct, gothic, etc which brings you a full...

9 hours Free Cancellation

4.3 (321)

from
$57

Tour of the Royal Collections of Madrid small group and skip the line

The Gallery of Royal Collections is the newest Museum in Madrid. Its exhibition is based on hitherto hidden objects that have belonged to the Spanish …More

5.0 (2)

Tour of the Royal Collections of Madrid small group and skip the line

The Gallery of Royal Collections is the newest Museum in Madrid. Its exhibition is based on hitherto hidden objects that have belonged to the Spanish...

1 hour 30 minutes Free Cancellation

5.0 (2)

from
$57

Private walking tour Madrid: Secrets and must

An interesting tour, in a relaxed tone, which will allow you to maintain concentration with ease and which will be fun. At the same time …More

5.0 (11)

Private walking tour Madrid: Secrets and must

An interesting tour, in a relaxed tone, which will allow you to maintain concentration with ease and which will be fun. At the same time...

120 to 150 minutes Hotel pickup offered Free Cancellation

5.0 (11)

from
$57

Prado Museum Skip the line Private Guided Tour

Dive into one of the most important art galleries of the world in this two-hour private guided tour. Learn about the backstories of many paintings …More

5.0 (3)