Cool Destinations
Top Madrid activities
Top Madrid landmarks
Beyond Madrid
Madrid trip ideas
  • Tours by category
  • Tours by accessibility
  • Tours by feature
  • Tours by the numbers
  • Top Madrid landmark tours
  • Tours in nearby places
  • Explore Spain tours
  • Madrid travel guides
  • Madrid travel calendar
Language $Currency
Login / Sign up
Bookings
Bookings
Cool Rewards Rewards
$0.00
Cool Rewards Rewards
$0.00
Wishlists
Wishlists
Profile
Help Center
Language
Log out
Start your search
Change your search
Place or activity
Select Dates

Top Madrid Walking Tours

462 Results
Sort by:
Featured
Filter
Languages Clear
Time of Day Clear
354
287
170
Duration Clear
8
330
150
0
18
Price Clear
$0 $500+
Rating Clear
334
428
445
Specials Clear
405
81
16
221
17
Features Clear
86
182
395
0
433
0
Accessibility Clear
154
188
419
Families Clear
265
281
177

Madrid Tours

Attractions

Guides

Calendar

Madrid Walking Tour from Puerta del Sol to Retiro Park

Discover the Retreat and Madrid of Bourbons Fall in love with Parque del Retiro, the great green lung of Madrid, and be impressed by the …More

Likely to Sell Out
Likely to Sell Out
5.0 (1,806)

Madrid Walking Tour from Puerta del Sol to Retiro Park

Discover the Retreat and Madrid of Bourbons Fall in love with Parque del Retiro, the great green lung of Madrid, and be impressed by the...

2 hours 25 minutes • Free Cancellation
5.0 (1,806)
from
$3
Prado Museum Small Group Tour with Skip the Line Ticket

We are proud to say that this experience was awarded with the Cool Destinations Experience Award 2023 for second time in a row! This tour …More

Likely to Sell Out
Likely to Sell Out
4.9 (1,838)

Prado Museum Small Group Tour with Skip the Line Ticket

We are proud to say that this experience was awarded with the Cool Destinations Experience Award 2023 for second time in a row! This tour...

1 hour 30 minutes • Free Cancellation
4.9 (1,838)
from
$52
Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Ready to dive into the opulent world of Madrid's Royal Palace? I'm your guide for this incredible journey. The guide will be at the specified …More

Likely to Sell Out
Likely to Sell Out
4.8 (2,753)

Madrid: Royal Palace Guided Tour with Skip the Line Ticket

Ready to dive into the opulent world of Madrid's Royal Palace? I'm your guide for this incredible journey. The guide will be at the specified...

2 hours • Free Cancellation
4.8 (2,753)
from
$41
Madrid Oscuro: Torture, Ghosts, Crimes and Legends

Dark Madrid: Mysteries, Blood and Terror No other tour plunges you so deeply into the cruelest and bleakest face of Madrid. Along its streets you …More

Likely to Sell Out
Likely to Sell Out
5.0 (953)

Madrid Oscuro: Torture, Ghosts, Crimes and Legends

Dark Madrid: Mysteries, Blood and Terror No other tour plunges you so deeply into the cruelest and bleakest face of Madrid. Along its streets you...

2 hours 25 minutes • Free Cancellation
5.0 (953)
from
$3
Prado Museum Guided Tour with Skip-the-Line Ticket

Visit Prado Museum and admire the works of important artists such as Goya, Velázquez, Rubens, and Caravaggio amongst others known worldwide. If you are a …More

4.6 (1,504)

Prado Museum Guided Tour with Skip-the-Line Ticket

Visit Prado Museum and admire the works of important artists such as Goya, Velázquez, Rubens, and Caravaggio amongst others known worldwide. If you are a...

1 hour 30 minutes • Free Cancellation
4.6 (1,504)
from
$52
From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets

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

4.6 (3,655)

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

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

11 hours • Free Cancellation
4.6 (3,655)
from
$48
Royal Palace of Madrid Small Group Skip the Line Ticket

Only 15 passengers maximum for this semi-private visit to the Royal Palace. We will start our visit from Calle Mayor 43, to get to know …More

4.6 (724)

Royal Palace of Madrid Small Group Skip the Line Ticket

Only 15 passengers maximum for this semi-private visit to the Royal Palace. We will start our visit from Calle Mayor 43, to get to know...

2 hours 10 minutes • Free Cancellation
4.6 (724)
from
$63
Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

✨ A unique tour of Madrid ✨ No other tour brings together as many landmarks of the city as this. With expert local guides, you …More

Likely to Sell Out
Likely to Sell Out
5.0 (5,152)

Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

✨ A unique tour of Madrid ✨ No other tour brings together as many landmarks of the city as this. With expert local guides, you...

2 hours 30 minutes • Free Cancellation
5.0 (5,152)
from
$3
Toledo Private Tour with Licensed Guide and Driver from Madrid

Your guide will meet you at the tourist office, to kick off your visit with a panoramic tour around Toledo, stopping at the Mirador del …More

5.0 (624)

Toledo Private Tour with Licensed Guide and Driver from Madrid

Your guide will meet you at the tourist office, to kick off your visit with a panoramic tour around Toledo, stopping at the Mirador del...

5 to 8 hours • Hotel pickup offered • Free Cancellation
5.0 (624)
from
$85
Toledo Half or Full Day Tour with Optional Lunch from Madrid

Dive into its history and discover a perfect mix of Arab, Jewish and Christian cultures. Wander around its Old Town, declared a World Heritage City …More

4.4 (4,362)

Toledo Half or Full Day Tour with Optional Lunch from Madrid

Dive into its history and discover a perfect mix of Arab, Jewish and Christian cultures. Wander around its Old Town, declared a World Heritage City...

5 to 8 hours • Hotel pickup offered • Free Cancellation
4.4 (4,362)
from
$34
Avila & Segovia Tour with Tickets to Monuments from Madrid

The Best Excursion to Ávila and Segovia from Madrid The only tour to Ávila and Segovia rated 5 stars and certified for excellence. Enjoy a …More

4.8 (8,880)

Avila & Segovia Tour with Tickets to Monuments from Madrid

The Best Excursion to Ávila and Segovia from Madrid The only tour to Ávila and Segovia rated 5 stars and certified for excellence. Enjoy a...

9 hours • Free Cancellation
4.8 (8,880)
from
$92
Madrid Tapas & Wine Tour with Rooftop Views and Local Guide

Discover Madrid through its flavors on a tapas and wine tour led by a local expert. Wander through charming neighborhoods like La Latina and Barrio …More

5.0 (2,194)

Madrid Tapas & Wine Tour with Rooftop Views and Local Guide

Discover Madrid through its flavors on a tapas and wine tour led by a local expert. Wander through charming neighborhoods like La Latina and Barrio...

4 hours • Free Cancellation
5.0 (2,194)
from
$102
Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum

Explore the best of Madrid with this expertly guided walking tour featuring skip-the-line tickets to the Royal Palace, one of Europe’s most breathtaking royal residences, …More

4.9 (883)

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

Explore the best of Madrid with this expertly guided walking tour featuring skip-the-line tickets to the Royal Palace, one of Europe’s most breathtaking royal residences,...

4 hours • Free Cancellation
4.9 (883)
from
$92
Eating Madrid: Food Walking Tour, Small-Group Tapas & Wine

Good food and old streets, that's the whole idea behind this small group food & wine tour. You'll wander past the Royal Palace and Plaza …More

Likely to Sell Out
Likely to Sell Out
5.0 (398)

Eating Madrid: Food Walking Tour, Small-Group Tapas & Wine

Good food and old streets, that's the whole idea behind this small group food & wine tour. You'll wander past the Royal Palace and Plaza...

3 hours 30 minutes • Free Cancellation
5.0 (398)
from
$103
Madrid Best Walking Tour: Old city & Royal Quarter. Oficial guide

- SEMI PRIVATE, Always less than 8 px - Cathedral entrance Included - OFFICIAL CERTIFIED LOCAL GUIDE - 100% REFUND IF NOT SATISFIED - Free …More

4.9 (270)

Madrid Best Walking Tour: Old city & Royal Quarter. Oficial guide

- SEMI PRIVATE, Always less than 8 px - Cathedral entrance Included - OFFICIAL CERTIFIED LOCAL GUIDE - 100% REFUND IF NOT SATISFIED - Free...

2 hours 30 minutes • Free Cancellation
4.9 (270)
from
$36
Prado Museum & Royal Palace: Madrid Private Tour in English

This unique tour offers you the chance to explore two of Madrid's most iconic and culturally rich landmarks. Starting with a guided visit to the …More

Likely to Sell Out
Likely to Sell Out
4.9 (158)

Prado Museum & Royal Palace: Madrid Private Tour in English

This unique tour offers you the chance to explore two of Madrid's most iconic and culturally rich landmarks. Starting with a guided visit to the...

5 hours • Free Cancellation
4.9 (158)
from
$90
Dark Side of Madrid Ghosts Executions and Murders Walking Tour

Madrid isn't just a city of royal palaces and sunny plazas. After dark, its streets reveal stories of executions, unsolved murders, ghostly sightings, and forbidden …More

4.9 (265)

Dark Side of Madrid Ghosts Executions and Murders Walking Tour

Madrid isn't just a city of royal palaces and sunny plazas. After dark, its streets reveal stories of executions, unsolved murders, ghostly sightings, and forbidden...

2 hours • Free Cancellation
4.9 (265)
from
$24
Toledo Half Day Tour with Cathedral, St Tome Church & Synagoge

Upon your arrival in Toledo, you will start the tour with a panoramic bus tour around the wall with a stop at the Mirador del …More

4.5 (239)

Toledo Half Day Tour with Cathedral, St Tome Church & Synagoge

Upon your arrival in Toledo, you will start the tour with a panoramic bus tour around the wall with a stop at the Mirador del...

5 hours 30 minutes • Free Cancellation
4.5 (239)
from
$74
Medieval Madrid: Plaza Mayor, Arab Wall and Temple of Debod

Explore ancient Madrid on a 2.5-hour walking tour: Plaza Mayor, Cava Baja street, the Basilica of San Francisco el Grande, the Segovia Bridge, Plaza de …More

4.9 (83)

Medieval Madrid: Plaza Mayor, Arab Wall and Temple of Debod

Explore ancient Madrid on a 2.5-hour walking tour: Plaza Mayor, Cava Baja street, the Basilica of San Francisco el Grande, the Segovia Bridge, Plaza de...

2 hours 30 minutes • Free Cancellation
4.9 (83)
from
$2
Madrid Photoshoot with a Professional Photographer

IG :@dorian . ph Capture your trip with a professional Madrid photoshoot in some of the city’s most iconic locations. Whether you are traveling alone, …More

4.9 (100)

Madrid Photoshoot with a Professional Photographer

IG :@dorian . ph Capture your trip with a professional Madrid photoshoot in some of the city’s most iconic locations. Whether you are traveling alone,...

1 hour • Free Cancellation
4.9 (100)
from
$93

Frequently Asked Questions

These answers are based on answers previously given to Cool Destinations customers' questions.

Recent tour reviews
Definitely A Must For Madrid
New York City
Madrid Essential: Historic Center, Plaza Mayor & Royal Palace
725StuartW, Sep 2026
Definitely A Must For Madrid
Mikael is one of best tour guides we have had. So informative and made the tour fun for everyone
Read more
We have had great...
New York City
Prado Museum Small Group Tour with Skip the Line Ticket
Anne_M, Sep 2026
We have had great...
We have had great experiences booking through Cool Destinations for museum tours. We did the small group tour of the Prado recently, and it was most definitely a 5-star experience. Our guide Stefani was phenomenal. (Believe the local company was The Guides You Need.) Communications throughout the process was flawless and she was so knowledgeable and experienced. Brought a whole new level of understanding for me of both the art and the history of Spain. Outstanding tour.
Read more
Prado experience
New York City
Prado Museum Small Group Tour with Skip the Line Ticket
Voyage247853, Sep 2026
Prado experience
Great tour. David was knowledgeable. Meeting point should have been in front of the museum.
Read more
Excellent!
New York City
Madrid Essential: Historic Center, Plaza Mayor & Royal Palace
Meli_D_Hager, Sep 2026
Excellent!
We loved it, this is a perfect way to spend our first day in Madrid. Our tour guide David was excellent! He made the historical background so much fun and easy to learn. Also, he had great vibes and could connect with the large group. He also gave us a bunch of recommendations through Whatsapp later on. We were about 15 people but the headphones they gave us made it possible to hear everything he was saying.Highly recommended it! Also good to tip them later on as they have to pay comissions and taxes to Cool Destinations.
Read more
Royal Palace of Madrid Tour
New York City
Madrid: Royal Palace Guided Tour with Skip the Line Ticket
Robert_W, Sep 2026
Royal Palace of Madrid Tour
This palace is a must see portion of your visit to Madrid! The palace is pristine and exceptional in its design, artwork and furnishings and our tour guide Leida was fantastic! Skipping the line and touring the palace with such an expert guide made for an outstanding experience! Highly recommend!
Read more
Great full day tour. To Toledo and Segovia a must
New York City
From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets
Kwiktalk, Sep 2026
Great full day tour. To Toledo and Segovia a must
This was an excellent tour. Well organised and in a luxury bus. Our guide Kostas made the travelling time relaxing by giving the bus travellers an historical background to each of Toledo and Segovia. Both these cities had their own charm and would definitely take this tour to both as the historic cultures of each of them are in many ways interconnected . The Full day tour flew by and we can only highly recommend it. !!!
Read more
More than what we anticipated
New York City
Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum
Debra_M, Sep 2026
More than what we anticipated
That it is a great opportunity to learn the history of Madrid through its art/paintings, and culture evolution, makes the trip that more personal. We are so glad we did it. Would highly recommend. Our tour leader Daniel was very nice, knowledgeable, personable and took care of us very well. We were part of a private tour which made the experience extra special.
Read more
Great food, great host, and vibes
New York City
Madrid Tapas & Wine Tour with Rooftop Views and Local Guide
Kendra_G, Sep 2026
Great food, great host, and vibes
This was an amazing experience. Our tour guide Rodrigo was so energetic, fun and accommodating. Me and my husband were gonna be late to the meeting point due to heavy traffic. I sent a message via Whatsapp because the tour guide's name/number were provided in advance. Rodrigo was very understanding. He shared his live location and also told me the name) address of the tour's 1st stop. We were 10 mins late so we were able to just meet up with the group at the 1st stop on the tour.Our group was so much fun. There was such a synergy within the group that was unmatched. All of the stops were fun and I enjoyed all of the food ans wine My only complaint would be that the dining space at all of the restaurants were kind of tight; it woukd have been nice to have more room.
Read more
We have tried going to...
New York City
Madrid: Royal Palace Guided Tour with Skip the Line Ticket
AprilLorraine_H, Sep 2026
We have tried going to...
We have tried going to palaces with and without guides and I am telling you now-GET THE GUIDED TOUR! It just enhances the overall experience- you understand what you are seeing, you move quickly to the not too important parts and you get further recommendations from an expert. Not to mention skipping long lines! This tour was straightforward and well organized, kept within the said duration. We just opted to see the Royal Armory on our own- the admission is part of the ticket but not part of the guided tour. Don’t miss this! Just ask your guide to accompany you to the Royal Armory before the tour ends… The experience was worth it- we learned so much!
Read more
Exceptional tour
New York City
Madrid Walking Tour from Puerta del Sol to Retiro Park
Andrea_P, Sep 2026
Exceptional tour
Excellent tour Maikel was exceptional so knowledgeable and his enthusiasm was infectious. Right balance of information and adventure and well catered to all ages.
Read more
Engaging and thought-provoking tour
New York City
Prado Museum Guided Tour with Skip-the-Line Ticket
Grace_R, Sep 2026
Engaging and thought-provoking tour
Jesus, our tour guide, helped us focus on some great art from the vast Prado collection. He was engaging and knowledgeable.
Read more
Isabel- you are an amazing host
New York City
Prado Museum Guided Tour with Skip-the-Line Ticket
kathyvC660FA, Sep 2026
Isabel- you are an amazing host
Thank you Isabel! What a fabulous tour of the Royal Palace. You were incredibly informative and we were in awe of the opulence and details within this amazing palace. This is a must do with Isabel. Highly recommend
Read more
💯
New York City
Avila & Segovia Tour with Tickets to Monuments from Madrid
718declanl, Sep 2026
💯
Great experience highly recommend very knowledgeable and entertain guides and a great day out
Read more
A fantastic day out!
New York City
Avila & Segovia Tour with Tickets to Monuments from Madrid
F1573TSanthonyb, Sep 2026
A fantastic day out!
A really great day out - loads to see and a huge amount of history is covered off! Plenty of stops along the way for photos, drinks and snacks. Well worth doing
Read more
Do this tour!
New York City
Madrid Oscuro: Torture, Ghosts, Crimes and Legends
jen_t, Sep 2026
Do this tour!
Petra was amazing! This tour is so much fun and full of interesting history. Every tour should have a leader as engaging as Petra!
Read more
Great experience
New York City
From Madrid: Toledo & Segovia Day Tour with Lunch & Tickets
sebastiandM5279UE, Sep 2026
Great experience
Our guide Andalucía was the best she knew everything about the places we see
Read more
Madrid Tours
Attractions
Guides
Calendar
View more