13 Historical Tours in Madrid to Build a Day Around

1.Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

★★★★★★★★★★5.0 · 6,416 reviews · 2 hours 30 minutes (approx.) Our pick

Walk from Puerta del Sol to the Royal Palace in about 2.5 hours with guides such as Javier, David, Christian, and Miguel. Expect visual history lessons, Madrid legends, food tips, a flamenco introduction, and a palace viewpoint. Site admissions are not included.

“I highly recommend the Madrid Essential: Historic Center, Plaza Mayor & Royal Palace tour with David. David, our guide, was super informative, friendly, and engaging, blending interesting historical facts with fun stories that made the walk through the historic centre come alive. It was a really fun activity to do with my son. I recommend the tour highly and without hesitation. Thank you, David! ⭐️⭐️⭐️⭐️⭐️”

Check availability →Read our full review

2.Madrid Historical Tour with Local Guide in Eco Tuk Tuk Private

★★★★★★★★★★5.0 · 876 reviews · 1 to 4 hours (approx.) · from $28

You’ll tour Madrid in a private electric tuk-tuk with an English-speaking driver-guide such as Carlos, Laura, or Clara. Expect royal sights, the Prado area, Cibeles, Atocha, and the Temple of Debod, with photo stops, blankets, and rain protection provided.

“She was excellent tour guide and very personable. We also waited for us because we had difficulty finding the underground bus station”

Check availability →Read our full review

3.Madrid Historic Centre Food Tour with Authentic Tapas & Wines

★★★★★★★★★★5.0 · 814 reviews · 2 to 3 hours (approx.) · from $78

Walk Madrid’s old center with a local guide such as Jorge, Jo, or Ignacio, stopping for a historic pastry, Iberian ham, Manchego, squid sandwich, tapas, vermouth, cider, and Spanish tortilla. Choose a shorter tasting or the fuller three-hour version with extra meats, olive oil, sangria, or beer.

“This was a wonderful time! Jorge was amazing. We loved touring with Jorge because he had such expansive knowledge of Spain/Madrid and the food within it. We took this tour about halfway into our trip, and every food option was new to us. Jorge took us to places that had practically all locals (a good sign!). It was cool to try things that only locals may know about. Our knowledge of the Spanish language has restricted us a bit in where/what we eat, and Jorge was able to bridge that gap for us with this tour. We tried things we never would have tried on our own - and they…”

Check availability →Read our full review

4.Madrid Historical Walking Tour

★★★★★★★★★★5.0 · 721 reviews · 2 hours 20 minutes (approx.) · from $3Best value

Walk Madrid’s old center with an English-speaking guide, from Puerta del Sol and Plaza Mayor to the Royal Palace and Teatro Real. Expect royal stories, food stops, printed visual aids, and personal recommendations. Guides may include Glenn, Marta, Javier, Jean, or Thomas. Sites are viewed from outside.

“Glenn was the best guide to lead us through the streets of Madrid. SO many interesting facts, sights and tidbits about this lovely city.”

Check availability →Read our full review

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

★★★★★★★★★★5.0 · 628 reviews · 4 hours (approx.) · from $119

Start at the Goya monument, then tour Prado masterpieces, walk through Plaza Mayor and Puerta del Sol, and finish at the Royal Palace. An English-speaking guide such as David, Anna, Ernesto, or Carlos provides art, royal, and city context. Choose early Prado access if offered.

“A lot of walking but done at a manageable pace. The 1 1/2 hour Prado highlights tour was eye opening with our guide Carlos' knowledge and explanations. The Royal Palace is stunningly opulent and the walk between the 2 locations through Old Madrid especially Plaza Mayor is a nice tour in itself.”

Check availability →Read our full review

6.Madrid Local’s Tapas Tour Dinner with a side of History

★★★★★★★★★★5.0 · 530 reviews · 3 hours 30 minutes (approx.) · from $114

Join a bilingual local guide such as Pablo or Daniel for a 3.5-hour Madrid evening of old streets, Moorish history, Royal Palace stories, tapas, Spanish wine, beer, paella, sangria, and after-dinner liqueurs. The group is capped at 10, with vegetarian food available by request.

“In spite of being the only participant, I got the full tour. Traditional restaurants with charm, assorted dishes and drinks. The guide explained history of dishes and shared recipes.”

Check availability →Read our full review

7.Guided Tour of Madrid of the Austrias and the Historic Center

★★★★★★★★★★5.0 · 520 reviews · 2 hours 30 minutes (approx.)

Walk Madrid’s historic center with an English-speaking guide such as Marta, Dina, Carlotta, or Esmeralda. Expect stories, visual teaching aids, and seven central stops, including Plaza Mayor, San Miguel Market, Almudena Cathedral, and the Royal Palace. You stay outside the paid sights.

“If you want a tour with history and exercise this is the one for you. Our host left all of us with a better understanding of Madrid’s history.”

Check availability →Read our full review

8.Segway Private Tour in the Historic Center of Madrid

★★★★★★★★★★5.0 · 310 reviews · 1 to 3 hours (approx.) · from $42

You’ll learn to ride a Segway, then explore Madrid’s old center with a private English-speaking guide. Routes can last one to three hours and may include Plaza Mayor, the Royal Palace, Almudena Cathedral, Puerta del Sol, and El Retiro Park. Guides such as Cristina, Rocio, and Valentin add local context.

“Riding a Segway is a blast! We had to change the tour from a Madrid city center tour to a Retiro Park tour due to construction and crowds, so I subtracted one star. The guides, Valentin and Evans, showed us their favorite places in the park, which was fun.”

Check availability →Read our full review

9.Madrid Tapas, Wine and History Tour

★★★★★★★★★★5.0 · 283 reviews · 3 hours (approx.) · from $83

Spend about three hours with a small group of up to 12, moving from Plaza de Isabel II through Plaza Mayor and the Literary Quarter. Expect four tavern stops, a full meal of tapas, one drink per stop, and local guides such as EJ, Mateo, Andrea, or Daniel, depending on the date.

“Viator has the wrong meeting address on the tour. Ej was amazing! So lovely and informative, the choices for the food were amazing with most of the highlights covered, interesting choice of drinks too! Would recommend :)”

Check availability →Read our full review

10.Historic Madrid Virtual Reality Experience with an Official Guide

★★★★★★★★★★5.0 · 214 reviews · 1 hour 45 minutes (approx.) · from $21

Walk from Plaza de Oriente to Puerta del Sol with an English-speaking official guide and virtual reality glasses. In about 1 hour 45 minutes, you will visit five central sites and see Madrid’s past through 3-D reconstructions, from the old Alcázar to 17th-century Plaza Mayor.

“Nice tour and our guide was great. Not to hard walking mostly flat. Easy to get around and see all the sights.”

Check availability →Read our full review

11.Toledo Jewish Heritage Private Tour with expert local guide

★★★★★★★★★★5.0 · 210 reviews · 3 to 8 hours (approx.) · from $151

Walk Toledo’s old Jewish quarter with guides such as Sonia, Irene, Javi, or Daniel. Visit El Tránsito Synagogue, the Sephardic Museum, Santa María la Blanca, and archaeological remains, with optional pickup from Madrid or Toledo.

“Irene was the consummate knowledgeable tour guide who gave us an incredible and memorable tour through Toledo. She tailored our experience to meet our interests and needs, listening carefully and making perfect suggestions. Javier was a fantastic driver who got us exactly where we needed to go and even offered tips along the way. Highly recommend!!”

Check availability →Read our full review

12.Avila and Salamanca : Magic and Small Group History from Madrid

★★★★★★★★★★4.5 · 49 reviews · 10 hours (approx.) · from $156

Travel from Madrid in a group of up to eight with guides such as Andrés or Inés. Explore Salamanca Cathedral, the University’s Sky of Salamanca, Ávila’s medieval walls and Santa Teresa’s convent, with water and a café or drink included.

“To begin with, the guide was late. We were 6 people and the transport they took us in was small and uncomfortable. I touch myself in the last row and travel very badly, the vehicle was one of those who make an extra line in the back. In my group was a very tall person with knee problems so they sent forward, however he had to make his seat forward to fit better in the second row, so that I could get out or get in the car, they had to lift the seat and in one of those, the seat fell on the foot because of the little space…”

Check availability →Read our full review

13.Private Segway Tour Madrid: Lavapiés & Historical Center

★★★★★★★★★★4.5 · 15 reviews · 2 hours (approx.) · from $51

Ride a private Segway tour through Lavapiés and central Madrid with a local guide, safety training, helmet, and insurance. You’ll see street art, markets, historic squares, the Royal Palace, and Almudena Cathedral. Guides such as Ronan and Sandra have helped first-time riders feel at ease.

“We had a great time! Beautiful early evening tour around Retiro Park with a very informative guide!”

Check availability →Read our full review