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: Toledo Full Day with Winery Visit, Tapas and Wine Tasting Self-Guided Audio Tour - Ghosts of Madrid: History and terror Alcala de Henares and Cervantes Guided Tour from Madrid Segovia Private Day Trip from Madrid with Hotel pick up Madrid: San Miguel Market & Tapas Small-Group Food Tour

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 →

From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets

Discover why this tour won the Cool Shore Excursions TRAVELERS' CHOICE AWARD 2025! The story of Medieval Spain is a blend of Roman influence, Muslim …More

4.7 (3,921)

From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets

Discover why this tour won the Cool Shore Excursions TRAVELERS' CHOICE AWARD 2025! The story of Medieval Spain is a blend of Roman influence, Muslim...

11 hours Free Cancellation

4.7 (3,921)

from
$43

Prado Museum Madrid Guided Tour with Skip the Line Ticket

Experience the most important art gallery in Spain with our expert guide, the Museo del Prado. This gallery is one of the most visited in …More

4.8 (558)

Prado Museum Madrid Guided Tour with Skip the Line Ticket

Experience the most important art gallery in Spain with our expert guide, the Museo del Prado. This gallery is one of the most visited in...

1 hour 30 minutes Free Cancellation

4.8 (558)

from
$44

Royal Palace Guided Tour Small Group with Tickets

One of the highlight of Madrid is its Royal Palace, a location full of charm and art that you must not miss. With our ceritfied …More

4.7 (199)

Royal Palace Guided Tour Small Group with Tickets

One of the highlight of Madrid is its Royal Palace, a location full of charm and art that you must not miss. With our ceritfied...

2 hours 20 minutes Free Cancellation

4.7 (199)

from
$44

Toledo Day Trip with Optional Attraction Tickets from Madrid

Enjoy this return trip to Toledo by bus, where you will have at least five hours for a self-guided tour. On arrival in Toledo we …More

4.1 (346)

Toledo Day Trip with Optional Attraction Tickets from Madrid

Enjoy this return trip to Toledo by bus, where you will have at least five hours for a self-guided tour. On arrival in Toledo we...

7 to 9 hours Free Cancellation

4.1 (346)

from
$44

Enjoy a guided tour of the Reina Sofia Museum with an expert in Art and History. You will learn about the different artistic trends of …More

5.0 (6)

Museum Reina Sofia Semi-private tour

Enjoy a guided tour of the Reina Sofia Museum with an expert in Art and History. You will learn about the different artistic trends of...

1 hour 30 minutes Free Cancellation

5.0 (6)

from
$44

Experience the magic of Toledo, one of Spain’s most enchanting cities, on this unforgettable excursion from Madrid. With the convenience of two daily departures from …More

3.8 (43)

Toledo Day Trip from Madrid

Experience the magic of Toledo, one of Spain’s most enchanting cities, on this unforgettable excursion from Madrid. With the convenience of two daily departures from...

7 to 9 hours Free Cancellation

3.8 (43)

from
$44

Monastery Royal Barefoot Visit with entrance without waiting for queues

Discover the Monastery of the Descalzas Reales and admire a convent founded by Juana of Austria, youngest daughter of Charles V and sister of Philip …More

4.7 (3)

Monastery Royal Barefoot Visit with entrance without waiting for queues

Discover the Monastery of the Descalzas Reales and admire a convent founded by Juana of Austria, youngest daughter of Charles V and sister of Philip...

1 to 2 hours Free Cancellation

4.7 (3)

from
$44

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

Madrid: Royal Palace Expert Guided Tour with Optional Tapas

Join a 2-hour guided tour of Madrid's Royal Palace. Admire the works of art by Giordano and Goya as you explore the palace at a …More

4.6 (748)

Madrid: Royal Palace Expert Guided Tour with Optional Tapas

Join a 2-hour guided tour of Madrid's Royal Palace. Admire the works of art by Giordano and Goya as you explore the palace at a...

2 hours 5 minutes Free Cancellation

4.6 (748)

from
$45

Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket

The tour starts at the door of the Fun and Tickets office at Calle Coloreros, 2 with a guided tour on the way to the …More

4.6 (2,041)

Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket

The tour starts at the door of the Fun and Tickets office at Calle Coloreros, 2 with a guided tour on the way to the...

2 hours 10 minutes Free Cancellation

4.6 (2,041)

from
$45

Madrid City Highlights Private Tour for kids and families

Enjoy a 2.5 hour private tour Madrid highlights with a top-rated guide specialized in working with kids and families. She will use ipad and other …More

5.0 (2)

Madrid City Highlights Private Tour for kids and families

Enjoy a 2.5 hour private tour Madrid highlights with a top-rated guide specialized in working with kids and families. She will use ipad and other...

2 hours 30 minutes Free Cancellation

5.0 (2)

from
$45

Madrid Royal Palace Private Tour with Skip-the-line Ticket

Skip the lines and get inside one of the most memorable Royal Castles of Europe, the “Royal Palace of Madrid”, with this private tour from …More

4.7 (20)

Madrid Royal Palace Private Tour with Skip-the-line Ticket

Skip the lines and get inside one of the most memorable Royal Castles of Europe, the “Royal Palace of Madrid”, with this private tour from...

1 hour 30 minutes Free Cancellation

4.7 (20)

from
$45

VIP visit to the Las Ventas Bullring in Madrid

Visit with a private guide, with which you can discover all the secrets of the Monumental de Las Ventas and the Bullfighting Museum of Madrid …More

5.0 (217)

VIP visit to the Las Ventas Bullring in Madrid

Visit with a private guide, with which you can discover all the secrets of the Monumental de Las Ventas and the Bullfighting Museum of Madrid...

1 hour 30 minutes Free Cancellation

5.0 (217)

from
$45

Madrid: Prado Museum and El Retiro Park Guided Tour

Embark on a route through El Retiro's most famous sites such as the Crystal Palace and the Felipe IV Gate, as well as some places …More

4.7 (18)

Madrid: Prado Museum and El Retiro Park Guided Tour

Embark on a route through El Retiro's most famous sites such as the Crystal Palace and the Felipe IV Gate, as well as some places...

5 hours Free Cancellation

4.7 (18)

from
$45

Prado Museum Guided Tour - In Spanish - 7 people per tour maximum

The Prado itself is already an experience, however, to make sure that this visit is made of another paste, the group will be a maximum …More

5.0 (6)

Prado Museum Guided Tour - In Spanish - 7 people per tour maximum

The Prado itself is already an experience, however, to make sure that this visit is made of another paste, the group will be a maximum...

1 hour 30 minutes Free Cancellation

5.0 (6)

from
$46

Segovia Tour with Cathedral and Alcazar from Madrid

On this half-day excursion, we will visit the city of Segovia, located in the neighboring autonomous community of Castilla y León. We will have the …More

4.6 (316)

Segovia Tour with Cathedral and Alcazar from Madrid

On this half-day excursion, we will visit the city of Segovia, located in the neighboring autonomous community of Castilla y León. We will have the...

5 hours Hotel pickup offered Free Cancellation

4.6 (316)

from
$48

Enjoy a small group visit in a single language, immersing yourself in the masterpieces of the Museo Reina Sofía and contemporary art. Admire Picasso's iconic …More

4.6 (14)

Guided visit to Reina Sofia Museum

Enjoy a small group visit in a single language, immersing yourself in the masterpieces of the Museo Reina Sofía and contemporary art. Admire Picasso's iconic...

1 hour 30 minutes Free Cancellation

4.6 (14)

from
$48

Private Tour: Madrid Walking Tour of Los Austrias

Get to know Madrid’s vibrant Los Austrias neighborhood on a 2.5-hour walking tour, led by a private guide! Often called Habsburg’s Madrid in reference to …More

5.0 (2)

Private Tour: Madrid Walking Tour of Los Austrias

Get to know Madrid’s vibrant Los Austrias neighborhood on a 2.5-hour walking tour, led by a private guide! Often called Habsburg’s Madrid in reference to...

2 hours 30 minutes

5.0 (2)

from
$48

Malasaña: Private Custom Tour with a Local– Street Art & Culture

Malasaña has long been one of Madrid's most creative and independent-minded neighborhoods. Known for its street art, cultural spaces, vintage stores, cafés, music venues, and …More

5.0 (1)

Malasaña: Private Custom Tour with a Local– Street Art & Culture

Malasaña has long been one of Madrid's most creative and independent-minded neighborhoods. Known for its street art, cultural spaces, vintage stores, cafés, music venues, and...

3 hours Hotel pickup offered Free Cancellation

5.0 (1)

from
$48