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 - Medieval to Modern Walking Tour (English) Madrid: Royal Palace Expert Guided Tour with Optional Tapas Madrid Royal Palace and Almudena Cathedral Guided Tour Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket Toledo Tour & Vineyard Experience with Wine Tasting from 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 →

Discover the magical back streets of Madrid’s most intriguing neighborhoods. You’ll visit the monumental spots for famous authors and artists such as Ernest Hemingway, Francisco …More

4.7 (3)

Don Quixote Quest Experience in Madrid

Discover the magical back streets of Madrid’s most intriguing neighborhoods. You’ll visit the monumental spots for famous authors and artists such as Ernest Hemingway, Francisco...

2 hours Free Cancellation

4.7 (3)

from
$7

Multicultural Madrid: A Self-Guided Audio Tour

You'll hear about the stories, characters and architecture that have helped define the spirit of Madrid. This covers aspects of Madrid’s religious and rebellious contexts …More

3.0 (1)

Multicultural Madrid: A Self-Guided Audio Tour

You'll hear about the stories, characters and architecture that have helped define the spirit of Madrid. This covers aspects of Madrid’s religious and rebellious contexts...

1 hour Free Cancellation

3.0 (1)

from
$7

Let's Tapear! The Madrid Tapas Route Walking Audio Tour

Forget the fixed timings of conventional walking tours and explore the tapas hotspots of central Madrid with a VoiceMap tour. Download the mobile app and …More

5.0 (1)

Let's Tapear! The Madrid Tapas Route Walking Audio Tour

Forget the fixed timings of conventional walking tours and explore the tapas hotspots of central Madrid with a VoiceMap tour. Download the mobile app and...

2 hours

5.0 (1)

from
$7

Madrid Mystery Quest: Self-Guided Surreal Adventure Game

You wake up on a grassy hill in Madrid - with no idea who you are and no body to speak of. Just your head, …More

4.6 (5)

Madrid Mystery Quest: Self-Guided Surreal Adventure Game

You wake up on a grassy hill in Madrid - with no idea who you are and no body to speak of. Just your head,...

45 to 75 minutes Free Cancellation

4.6 (5)

from
$8

Madrid Quest: Escape the Spanish Inquisition

18th-century Madrid. Your sister Juana, a folk healer, has been condemned by the Spanish Inquisition. Her head is shaved, she is covered in feathers, and …More

5.0 (3)

Madrid Quest: Escape the Spanish Inquisition

18th-century Madrid. Your sister Juana, a folk healer, has been condemned by the Spanish Inquisition. Her head is shaved, she is covered in feathers, and...

1 hour 10 minutes Free Cancellation

5.0 (3)

from
$8

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

Manzanares River’s Story: A Self-Guided Audio Tour in Madrid

Discover the story of Madrid's Manzanares River without joining a tour group with this affordable walking tour. • Take in the area’s 300,000-year-long history including …More

4.8 (9)

Manzanares River’s Story: A Self-Guided Audio Tour in Madrid

Discover the story of Madrid's Manzanares River without joining a tour group with this affordable walking tour. • Take in the area’s 300,000-year-long history including...

60 to 75 minutes

4.8 (9)

from
$10

Madrid’s Golden Age: History along the Manzanares River

On this self-guided walking tour, you'll leaf through centuries of history in one of the capital’s newest public parks Parque Madrid Río (meaning Madrid River …More

5.0 (1)

Madrid’s Golden Age: History along the Manzanares River

On this self-guided walking tour, you'll leaf through centuries of history in one of the capital’s newest public parks Parque Madrid Río (meaning Madrid River...

50 to 70 minutes Free Cancellation

5.0 (1)

from
$10

Welcome to Alcalá de Henares! With local guides, Natales, and certificates, you will get to know a city with more than 2,000 years of history. …More

5.0 (61)

Alcala World Heritage Tour

Welcome to Alcalá de Henares! With local guides, Natales, and certificates, you will get to know a city with more than 2,000 years of history....

1 hour 30 minutes Free Cancellation

5.0 (61)

from
$10

Access and discover the main parts of the incredible Retiro Park, the principal park in Madrid, with an expert guide. …More

4.5 (44)

Retiro Park Walking Tour in Madrid

Access and discover the main parts of the incredible Retiro Park, the principal park in Madrid, with an expert guide....

1 hour 30 minutes Free Cancellation

4.5 (44)

from
$10

Self-Guided Audio Tour - Ghosts of Madrid: History and terror

This soundwalk was developed based on research about hauntings in Madrid. We invite you to discover the paranormal mysteries on this extraordinary audio walk. With …More

4.0 (4)

Self-Guided Audio Tour - Ghosts of Madrid: History and terror

This soundwalk was developed based on research about hauntings in Madrid. We invite you to discover the paranormal mysteries on this extraordinary audio walk. With...

60 to 90 minutes Free Cancellation

4.0 (4)

from
$11

Discover Madrid's Hidden Gems on Walking Tour

Discover Madrid’s historic center with total freedom on a GPS-guided, podcast-style audio tour. No groups, no schedules—just immersive storytelling triggered automatically as you walk. Start …More

5.0 (1)

Discover Madrid's Hidden Gems on Walking Tour

Discover Madrid’s historic center with total freedom on a GPS-guided, podcast-style audio tour. No groups, no schedules—just immersive storytelling triggered automatically as you walk. Start...

2 hours Free Cancellation

5.0 (1)

from
$11

WELCOME TO THE MOST ORIGINAL PUBCRAWL IN MADRID. The best way to meet new people and have fun enjoying the Madrid night is through our …More

4.9 (64)

PUBCRAWL Bar and Party Route in Madrid

WELCOME TO THE MOST ORIGINAL PUBCRAWL IN MADRID. The best way to meet new people and have fun enjoying the Madrid night is through our...

4 to 6 hours Free Cancellation

4.9 (64)

from
$11

Visit some of Madrid's most important locations with this complete walking city tour for a small group. Your visit will be lead by a local …More

5.0 (2)

Madrid Highlights Private Walking Tour

Visit some of Madrid's most important locations with this complete walking city tour for a small group. Your visit will be lead by a local...

3 hours 30 minutes Free Cancellation

5.0 (2)

from
$14

Madrid Evening Walking Tour and optional Flamenco Show

Enjoy a walking tour to learn about the history of Madrid, while anecdotes, legends and curiosities are explained by the guide. Madrid at dusk is …More

5.0 (2)

Madrid Evening Walking Tour and optional Flamenco Show

Enjoy a walking tour to learn about the history of Madrid, while anecdotes, legends and curiosities are explained by the guide. Madrid at dusk is...

3 hours 30 minutes Free Cancellation

5.0 (2)

from
$14

Receive a warm welcome to Madrid on a private tour that will kick off your time in the city in the best way possible! In …More

4.8 (130)

Private City Kickstart Tour: Madrid

Receive a warm welcome to Madrid on a private tour that will kick off your time in the city in the best way possible! In...

1 hour 30 minutes Free Cancellation

4.8 (130)

from
$17

On our route “Madrid Enchanted” we take a tour of the places that have left their mark in the capital from different points of view. …More

5.0 (33)

Night Tour of Enchanted Madrid

On our route “Madrid Enchanted” we take a tour of the places that have left their mark in the capital from different points of view....

2 hours Free Cancellation

5.0 (33)

from
$17

Cities are not only defined by their historical landmarks. There are other stories, more hidden, embedded in the subconscious of its inhabitants, who sometimes draw …More

4.6 (56)

Mysteries and Legends Tour of Madrid

Cities are not only defined by their historical landmarks. There are other stories, more hidden, embedded in the subconscious of its inhabitants, who sometimes draw...

2 hours Free Cancellation

4.6 (56)

from
$17

This indispensable route guided by a professional guide will take you to the most iconic places in Madrid, where history and present go hand in …More

3.7 (14)

Essential Madrid: Walking Tour

This indispensable route guided by a professional guide will take you to the most iconic places in Madrid, where history and present go hand in...

1 hour 30 minutes Free Cancellation

3.7 (14)

from
$17

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