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 Private Walking Tour of Thyssen and Reina Sofia Museums Don Quixote Quest Experience in Madrid Prado Museum Small Group Tour Kid-Friendly Madrid Prado Museum Private Tour Andalusian Highlights: 6-Day Guided Tour 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 in 4 hours the main streets and monuments of the city center (Plaza Mayor, Puerta del Sol, the Royal Palace, the cathedral, La Latina …More

5.0 (1)

Essential Madrid - Private Tour

Discover in 4 hours the main streets and monuments of the city center (Plaza Mayor, Puerta del Sol, the Royal Palace, the cathedral, La Latina...

4 hours Hotel pickup offered

5.0 (1)

from
$369

Prado Museum and Retiro Park Private Guided Tour

Prado Museum is one of the must places in Madrid to visit. I am an expert in Spanish history and art …More

5.0 (4)

Prado Museum and Retiro Park Private Guided Tour

Prado Museum is one of the must places in Madrid to visit. I am an expert in Spanish history and art...

4 hours Hotel pickup offered

5.0 (4)

from
$373

Private Walking Tour to Royal Palace and Old Town of Madrid

We will show you its fascinating history, architecture, art and legends. We are history experts and what we love most about this tour is telling …More

4.8 (19)

Private Walking Tour to Royal Palace and Old Town of Madrid

We will show you its fascinating history, architecture, art and legends. We are history experts and what we love most about this tour is telling...

3 hours 30 minutes Hotel pickup offered

4.8 (19)

from
$390

Half Day Private Prado Museum Guided Tour

Prado Museum is the result of the Spanish Kings’ likes during the 16th and 17th century. The museum can doubtless be proud of housing the …More

5.0 (8)

Half Day Private Prado Museum Guided Tour

Prado Museum is the result of the Spanish Kings’ likes during the 16th and 17th century. The museum can doubtless be proud of housing the...

3 hours 30 minutes Hotel pickup offered

5.0 (8)

from
$390

Madrid Private Walking Tour through glamorous capital of Spain

Madrid is the largest cities in Spain. We propose you to discover 2 of the authentic neighborhoods of Madrid. Here you will not see tourists …More

5.0 (4)

Madrid Private Walking Tour through glamorous capital of Spain

Madrid is the largest cities in Spain. We propose you to discover 2 of the authentic neighborhoods of Madrid. Here you will not see tourists...

4 hours Free Cancellation

5.0 (4)

from
$431

Private Group Walking Tour: Secrets of Madrid

Enjoy this 3-hour private walking tour and discover the essential history and secrets of Madrid. A local guide will be with you to show you …More

5.0 (21)

Private Group Walking Tour: Secrets of Madrid

Enjoy this 3-hour private walking tour and discover the essential history and secrets of Madrid. A local guide will be with you to show you...

3 hours Hotel pickup offered Free Cancellation

5.0 (21)

from
$482

This is a completely Private Experience. It can be done is 5 days, 4 days or even 3 days. The arrival and departure transfers can …More

Private Tours during 5 days in Madrid with private pick up and entrance tickets

This is a completely Private Experience. It can be done is 5 days, 4 days or even 3 days. The arrival and departure transfers can...

5 days Hotel pickup offered

from
$499

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

Immerse yourself in the best photography session at Retiro Park, where the magic of nature and architecture blend together. Explore its winding paths surrounded by …More

5.0 (21)

Flying dress photoshoot in Madrid

Immerse yourself in the best photography session at Retiro Park, where the magic of nature and architecture blend together. Explore its winding paths surrounded by...

60 to 90 minutes Free Cancellation

5.0 (21)

from
$517

Seville in One Day by High speed Train from Madrid Private Tour

Upon arrival in Sevilla, an expert guide will lead you on a walking tour, unveiling the architectural marvels and historical gems of the city. Marvel …More

4.8 (26)

Seville in One Day by High speed Train from Madrid Private Tour

Upon arrival in Sevilla, an expert guide will lead you on a walking tour, unveiling the architectural marvels and historical gems of the city. Marvel...

13 hours

4.8 (26)

from
$562

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

Private Tour in Toledo 5 hours with private guide and driver

Visit to Toledo with an official guide and private driver, where travelers will have the opportunity to learn about the history that different cultures have …More

4.9 (20)

Private Tour in Toledo 5 hours with private guide and driver

Visit to Toledo with an official guide and private driver, where travelers will have the opportunity to learn about the history that different cultures have...

5 hours Hotel pickup offered Free Cancellation

4.9 (20)

from
$631

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

Private Half-Day Guided Tour of Madrid: 2H by private vehicle & 2H walking

If you want to make the most of your time, this is your tour! This tour offers a great insight into the origin and personality …More

5.0 (15)

Private Half-Day Guided Tour of Madrid: 2H by private vehicle & 2H walking

If you want to make the most of your time, this is your tour! This tour offers a great insight into the origin and personality...

4 hours Hotel pickup offered

5.0 (15)

from
$643

This is a private 7 day experience. It can also be longer if you want some free days in between or shorter and arriving and …More

Private 7 days private tours and transportation in Madrid and Barcelona

This is a private 7 day experience. It can also be longer if you want some free days in between or shorter and arriving and...

7 days Hotel pickup offered

from
$669

Segovia private tour from Madrid by private car

Discover Segovia in the most comfortable way possible. With a private car / van, driver and guide, you can optimize the time, so that in …More

5.0 (2)

Segovia private tour from Madrid by private car

Discover Segovia in the most comfortable way possible. With a private car / van, driver and guide, you can optimize the time, so that in...

8 hours Hotel pickup offered Free Cancellation

5.0 (2)

from
$681

Private Full-Day Madrid Tour with Entrance & Transfers Included

This tour stands out for its fully private and seamless approach, combining Madrid’s main highlights into one well-paced day without logistical constraints. With skip-the-line entrances, …More

5.0 (2)

Private Full-Day Madrid Tour with Entrance & Transfers Included

This tour stands out for its fully private and seamless approach, combining Madrid’s main highlights into one well-paced day without logistical constraints. With skip-the-line entrances,...

6 hours Hotel pickup offered Free Cancellation

5.0 (2)

from
$786

Andalusia 5-Day Guided Tour from Madrid via Cordoba

Discover the Heart of Spain: A Captivating Journey from Madrid to Andalusia and Back Embark on an unforgettable Spanish adventure that blends history, culture, and …More

4.3 (30)

Andalusia 5-Day Guided Tour from Madrid via Cordoba

Discover the Heart of Spain: A Captivating Journey from Madrid to Andalusia and Back Embark on an unforgettable Spanish adventure that blends history, culture, and...

5 days

4.3 (30)

from
$942

Toledo Private Half Day Tour Cathedral Santo Tome and Synagoge

We start with a panoramic walking tour of Toledo, into the old quarter to visit the main square and the inside of the impressive Primate …More

5.0 (30)

Toledo Private Half Day Tour Cathedral Santo Tome and Synagoge

We start with a panoramic walking tour of Toledo, into the old quarter to visit the main square and the inside of the impressive Primate...

5 hours 30 minutes Hotel pickup offered Free Cancellation

5.0 (30)

from
$1,005

Andalusian Highlights: 6-Day Guided Tour from Madrid

Discover the Heart of Spain: A 6-Day Cultural Adventure Embark on an unforgettable six day journey through Spain, exploring its rich history, stunning architecture, and …More

4.7 (3)

Andalusian Highlights: 6-Day Guided Tour from Madrid

Discover the Heart of Spain: A 6-Day Cultural Adventure Embark on an unforgettable six day journey through Spain, exploring its rich history, stunning architecture, and...

6 days

4.7 (3)

from
$1,027