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Best Walking & City Tours in Madrid
Explore the top-rated walking & city tours in Madrid. Our curated guide features 8 highly-rated experiences, averaging 5 stars, to help you plan the perfect visit.
4.9★
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Top 8 Ranked
Best Walking & City Tours in Madrid
Our expertly curated list of the best walking & city tours in Madrid, ranked by traveler reviews and ratings.
#1
Top Rated
Reina Sofia Museum Madrid Exclusive Guided Tour
5 (24)
From $121 EUR
One of Madrid’s most popular museums, the Reina Sofia Museum houses an exquisite collection of Spanish modern and contemporary art. On this 2.5 hour private guided museum tour, your guide will lead you to the most important works, revealing the fascinating stories behind each one. You’ll skip the line so that you won’t miss a minute while visiting Madrid.
#2
Top Rated
Royal Palace & Old City Madrid Guided Tour Semi-Private 8ppl Max
5 (28)
From $239 EUR
History and architecture will collide in Madrid on this combo tour of the Old City & Royal Palace (Palacio). This 5.5 hour semi-private (8 Guest Maximum) guided combo tour, you will explore Europe’s largest royal residence as well as the streets and attractions around it. It’s the ideal way to make the most of your time in the Spanish capital.
#3
Top Rated
Private transfer from Madrid to Lisbon
5 (7)
From $438 EUR
Clean, discreet vehicles, with wi-fi on board, chargers for your mobile phone, and bottled water for all customers. We adapt to your needs to make your trip as comfortable as possible. Whenever requested in advance, and for an extra cost, we can accommodate sightseeing along the way. Children's seats are available if requested in advance.
#4
Top Rated
Royal Palace + Old City Madrid Exclusive Guided Walking Tour
5 (9)
From $239 EUR
History and architecture will collide in Madrid on this combo tour of the Old City and Royal Palace. This 5.5 hour Exclusive guided combo tour will explore Europe’s largest royal residence as well as the streets and attractions around it. It’s the ideal way to make the most of your time in the Spanish capital.
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#5
Top Rated
Private walking Tour: The oldest taverns of Madrid
5 (8)
From $127 EUR
A route through the most popular history of Madrid: its taverns. Bars with more than 100 and 200 years of age, which are the living history of the city. Some have seen the kings eat and drink there, writers and others of the lower classes also. Between us, we will discover some of the most rooted traditions of our city. The anecdotes, the way of life of the people and the innumerable things that their walls have seen. Of course, we can stop to try a wine or beer of some of them! With the oldest restaurant in the world and an unequalled tradition in the world of bars, without doubt, Madrid is a city that you must get to know from the point of view of its illustrious taverns and restaurants. *The route may vary. You will not always enter all the venues.
#6
Top Rated
Personalized One Day Tour. Prado Museum and Toledo in Private Car
5 (5)
From $1344 EUR
THIS TOUR CAN BE CUSTOMIZED FOR JEWISH, CHRISTIAN OR AGNOSTIC TRAVELERS. An amazing personalized Tour through Spain's two most popular tourist attractions ! The Prado Museum and Toledo tour in private van belong to our client’s favorite day tour from Madrid. Led by a licensed guide, specialized in Toledo's history and monuments. Pick up/Drop off at your hotel. Enjoy a customized, private Tour through Prado museum highlights. Combine it with a private Toledo sightseeing which features main Toledo's attractions. - The Art in Toledo's Gothic Cathedral. - The Sephardic Museum - Greco's masterpieces. - A placid walk through Toledo’s ‘off the beaten path’ winding streets. - Indescribably beautiful panoramic views of the city from the nearby mountains. - A tasty lunch in the best restaurant for local foodies.
#7
Top Rated
Lavapiés: The most multicultural neighbourhood of Madrid, Private Walking Tour
5 (4)
From $132 EUR
Lavapiés is one of the most popular neighbourhoods in Madrid, and often known as the most multicultural in Europe. It is located inside the downtown area, an industrial part of the city since the XVIII century, when royal factories were created. Bullfighters, Caleseros (carriages drivers), and Manolos (Jewish descendants) inhabited here traditionally. The tiny and old apartments made for the low-class workers were chip enough for the immigrants from the '80s on, generating a new cultural landscape. For the past 10 years, there have been great projects to rehabilitate the old buildings and promote Lavapiés’ economy through culture. Theatres, Exhibition centres, cultural foundations, and a circus have raised up. It has also dozens of bars, cafes, and restaurants from every possible country. The British magazine “Times Out” named it the coolest neighbourhood in the world in 2018. You will be able to deeply discover all of it with an expert in a private Tour
#8
Private Walking Tour to Royal Palace and Old Town of Madrid
4.7894735 (19)
From $340 EUR
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 you about our history, our past aqnd our present. By the end of the tour, you too will feel like an expert on Madrid.
Review counts and ratings based on Viator and Tripadvisor data
Frequently Asked Questions
How much do walking & city tours cost in Madrid?
Walking & City Tours in Madrid range from $121 to $1344, with an average price of $372. The highest-rated option is "Reina Sofia Museum Madrid Exclusive Guided Tour" with a 5-star rating.
What are the best walking & city tours in Madrid?
Madrid has 8 walking & city tours available, averaging 5 stars across 104 reviews. The top-rated experience is "Reina Sofia Museum Madrid Exclusive Guided Tour".
How do I plan a trip to Madrid?
Plan Harmony makes it easy to organize your Madrid trip. Browse experiences, build a collaborative itinerary with friends, and track your budget in one place.
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