Walking Tours Madrid

Experiencing Madrid’s unique personality can come in different ways but one of the best is through Madrid walking tours. This is a perfect way designed to explore the city and discover its hidden gems. Walking tours in Madrid will help you cover a wide range of aspects including art, culture, history, architecture and food. Some walking tours will take you to see famous landmarks of the city like Royal Palace or the Prado Museum while others will focus on the full character and history of lesser-known neighborhoods and off-the-beaten paths. Walking tours can also come in the form of visiting local restaurants and traditional bars. On this tour, walking is combined with a variety of small plates and drinks while learning about the history and culture of Madrid. Most walking tours in Madrid are guided, which means you will enjoy the service of a professional guide who will feed you with live commentary and be your navigator as you explore.

While some choose to go during the day, others prefer sunset walking tours in Madrid. Wow, this is experiencing Madrid in a whole new light of artificial illumination under the night sky. As the sunset and the building lights come on, you will walk through the bustling streets to visit iconic local highlights and plazas. Before many travelers go for walking tours, they would have given one or two days for bus sightseeing tours in Madrid. This gives visitors the chance to hop on and hop off unlimitedly at bus-stops closer to Madrid attractions with their purchased Madrid city passes. All these tours are suitable for families of kids in Madrid to enjoy their vacation period.

There are lots of tickets in Madrid, only the best ones will give you that beautiful experience you want to have. This is why we’ve compiled a list of the best walking tours in Madrid below by reading hundreds of travelers’ comments and getting validations from travel experts. Are you a budget traveler? Don’t worry, we’ve compared prices from top suppliers, and provide adequate information to help you in making the right decision according to your budget and preferences.

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Madrid Walking & Biking Tours

Private Tour to Toledo from Madrid with Guide and Private Driver €580
Madrid Food Tour: Gastronomy & History with Lunch or Dinner €80.4
Iberian Ham and Wine Small Group Tour in Madrid €60.05
Pub Crawl in Madrid €16.5
Highlights of Madrid by Bike €28
Madrid at Night Bike Guided Small Group Tour €28
El Escorial, Valley and Toledo Day Tour from Madrid €83
Toledo Half Day Afternoon Tour From Madrid €35
Reina Sofia Museum Guided Tour in Madrid €29
Toledo, Segovia, Optional Avila: Majesty of Medieval Spain Tour €49
Private Tour to Toledo from Madrid with Guide and Private Driver

Private Tour to Toledo from Madrid with Guide and Private Driver

clock Duration: 5 to 8 hou
  • A time to learn about the old capital of Spain on a private tour from Madrid and travel comfortably in a van or luxury vehicle.
  • A private transfer service will pick you to/from Madrid to the destination of the tour.
  • The tour will take guests through the diverse Christian, Jewish and Muslim quarters, visit the main landmark
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Madrid Food Tour: Gastronomy & History with Lunch or Dinner

Madrid Food Tour: Gastronomy & History with Lunch or Dinner

clock Duration: 3 hours 30
  • A tour where you get to eat a lot of tapas and take many drinks and take a look at in-depth Tapas culture.
  • A tour where you'll be led local guides to the best tapas places and hideouts.
  • It takes you to 4 venues where you enjoy drinks and tapas at each stop.
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Iberian Ham and Wine Small Group Tour in Madrid

Iberian Ham and Wine Small Group Tour in Madrid

clock Duration: 2 hours 30
  • A tour that teaches you about Spanish wines and lets you explore Iberian ham houses in Madrid.
  • It is a chance to taste different types of Iberian meat such as chorizo, salchichon, lomo, and ham paired with manchego cheese as well as some traditional tapas.
  • A time to learn about the exciting history and culture of wine, the
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Pub Crawl in Madrid

Pub Crawl in Madrid

clock Duration: 5 hours
  • A tour that reveals the energetic side of Madrid at night on a pub crawl with well-informed guides and an enthusiastic crowd.
  • It takes you through the main attractions of the city's nightlife and finds yourself in some of Madrid's best clubs and bars.
  • It's a high-energy walk around Madrid at night while visiting the best
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Highlights of Madrid by Bike

Highlights of Madrid by Bike

clock Duration: 3 hours
  • This is a bike tour around the city of Madrid where you will be visiting many of Madrid's most popular attractions and enjoy Spain's delicacies, also known as tapas.
  • The places your tour guide will bring you to are the Royal Palace of Madrid, Plaza Mayor, Plaza de la Villa and the Barrio de Las Letras.
  • This is a 3-hour bike
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Madrid at Night Bike Guided Small Group Tour

Madrid at Night Bike Guided Small Group Tour

clock Duration: 2 hours
  • This is a night bike guided tour around the city of Madrid where you will be visiting some of the most popular and iconic attractions without the usual afternoon crowds that make sightseeing a hassle.
  • The attractions that you will be visiting include Puerta del Sol, Plaza Mayor, Royal Palace of Madrid and Parque del
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El Escorial, Valley and Toledo Day Tour from Madrid

El Escorial, Valley and Toledo Day Tour from Madrid

clock Duration: 11 hours
  • A tour that lets you discover the El Escorial Monastery and visit the beautiful city of Toledo all in one day.
  • It is a full-day tour that combines two half-day tours.
  • A full-day tour that lets you experience the rich history of the country.
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Toledo Half Day Afternoon Tour From Madrid

Toledo Half Day Afternoon Tour From Madrid

clock Duration: 5 hours
  • A half-day (5 hour) tour to the UNESCO World Heritage City of Toledo.
  • Toledo is a picturesque medieval city that has narrow streets, historical bridges, churches and city walls to explore.
  • Enjoy a morning or an afternoon tour with a bilingual guide as you discover 'the city of 3 cultures".
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Reina Sofia Museum Guided Tour in Madrid

Reina Sofia Museum Guided Tour in Madrid

clock Duration: 1 hour 15
  • Skip the line with a 1.5 hour guided tour around the famous Reina Sofia National Art Museum in Madrid.
  • View 20th Spanish art inside this historic 18th century building, a former-hospital.
  • Although primarily known for its paintings, the museum also has an impressive collection of sculptures.
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Toledo, Segovia, Optional Avila: Majesty of Medieval Spain Tour

Toledo, Segovia, Optional Avila: Majesty of Medieval Spain Tour

clock Duration: 11 to 13 h
  • A full day coach trip with guide to see the main attractions in the picturesque cities of Toledo and Segovia.
  • Toledo is a UNESCO world heritage site. The picturesque medieval city has narrow streets, historical bridges and city walls to explore.
  • Segovia is an equally picturesque and historically important city. Enjoy a walking
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Madrid Tapas Night Walking Tour

Madrid Tapas Night Walking Tour

clock Duration: 4 hours
  • It explores Spanish nightlife and the traditional tasty tapas that will leave you salivating.
  • It leads you through the classy Madrileno lifestyle.
  • A small group of guests will visit Madrid's farthest corners and enjoy all of the delicious treats which you can never find on your own.
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The 10 Tastings of Madrid With Locals: Private Food Tour

The 10 Tastings of Madrid With Locals: Private Food Tour

clock Duration: 3 hours
  • A 3-hour Spanish cuisine tour and get a chance to try out 10 of the local favorites.
  • It will take you through the cool areas of Madrid, show you the classy lifestyle and allows you to create the best food memories.
  • A tour by a local guide who takes you smoothly through the twists and turns of the city.
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Royal Palace of Madrid 1.5-Hour Guided Tour Optional Prado Museum Combo

Royal Palace of Madrid 1.5-Hour Guided Tour Optional Prado Museum Combo

clock Duration: 1 hour 30
  • A 90 minute guided tour with fast-track entry into Madrid's Royal Palace.
  • See inside the largest Royal Residence in Europe.
  • Marvel at the sumptuously designed and decorated rooms, halls and galleries.
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Madrid Countryside Wineries Guided Tour with Wine Tasting

Madrid Countryside Wineries Guided Tour with Wine Tasting

clock Duration: 6 hours
  • A day trip out of the hustle and bustle of Madrid into the countryside.
  • A visit to three renowned wineries in the surrounding region and tastings of different sorts of wine.
  • A tour of the area featuring beautiful landscapes and sunny vineyards.
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Madrid Tapas and Wine Tasting Tour

Madrid Tapas and Wine Tasting Tour

clock Duration: 3 hours
  • A guided tour introducing a few of the best places to eat at in central Madrid.
  • A journey through the dining scene and the history of the Spanish capital city.
  • A lesson in combining tapas, a widely famous specialty of Spain, with specially-selected wines for the best experience.
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Sightseeing Electric Bike Tour in Madrid

Sightseeing Electric Bike Tour in Madrid

clock Duration: 3 hours
  • This is a very lively electric bike tour in the city of Madrid where you and a large group of participants will be roaming and exploring Madrid's best sightseeing attractions that you cannot miss during your stay here.
  • The places that you will be visiting are the Royal Palace of Madrid, Templo de Debod, Plaza de Oriente and Parque
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Madrid: The Spanish Inquisition Walking Tour

Madrid: The Spanish Inquisition Walking Tour

clock Duration: 2 hours
  • A historical tour that reveals the legacy of the Spanish Inquisition, one of the most mysterious and tyrannical organizations in the history of the world.
  • A walking tour taking the participants to the sites that used to be in close relation to this much feared and gruesome institution.
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Madrid 3-Hour Highlights Bike Tour

Madrid 3-Hour Highlights Bike Tour

clock Duration: 3 hours
  • A 3 hour city cycling tour around Madrid.
  • Cycle past the top scenic sites in the city on a group tour.
  • Hear about the attractions you're passing from a friendly bilingual guide.
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Private walking tour Madrid: Secrets and must

Private walking tour Madrid: Secrets and must

clock Duration: 120 to 150
  • Visit the places and monuments of the city on a three hour tour. The guide can pick you up from your hotel or meet you at the Puerta del Sol, next to the statue of the bear and the fruit tree. The local guide can adapt themselves to all your preferences and will help you understand the general history of the city, the most important monuments and...
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3 Hour private tour of The Prado Museum, Madrid

3 Hour private tour of The Prado Museum, Madrid

clock Duration: 3 hours
  • Visit Spain’s most important gallery, the 3 hour tour will allow you to see the essential works. The guide can pick you up from your hotel or also at the entrance of the gallery, next to the statue of Goya. The price of the tour includes the entrance ticket, which will also allow you to avoid the large queues.
    During the tour not only will...
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Private walking Tour: The oldest taverns of Madrid

Private walking Tour: The oldest taverns of Madrid

clock Duration: 110 to 150
  • 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...
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Private Tour in Reina Sofía Museum, Madrid

Private Tour in Reina Sofía Museum, Madrid

clock Duration: 110 to 130
  • Visit Spain’s the most important modern art gallery, in a two hour tour which will allow you to see the most essential works of art. The guide can collect you at your hotel or at the entrance of the gallery, next to the Spanish flag. The price of the tour includes the entrance fee and will also allow you to avoid the long queues.
    During the...
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Lavapiés: The most multicultural neighbourhood of Madrid, Private Walking Tour

Lavapiés: The most multicultural neighbourhood of Madrid, Private Walking Tour

clock Duration: 100 to 120
  • 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...
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Toledo private tour from Madrid by private car

Toledo private tour from Madrid by private car

clock Duration: 8 hours
  • Discover Toledo in the most comfortable way possible. With a private car / van, driver and guide, you can optimize the time, so that in one day from Madrid, you can have known in depth the most important monuments of Toledo and its history. With the support of the guide, you can also select which type of monuments interest you the most and you...
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Segovia private tour from Madrid by private car

Segovia private tour from Madrid by private car

clock Duration: 8 hours
  • Discover Segovia in the most comfortable way possible. With a private car / van, driver and guide, you can optimize the time, so that in one day from Madrid, you can have known in depth the most important monuments of Toledo and its history. With the support of the guide, you can also select which type of monuments interest you the most and you...
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Andalusian Highlights: 6-Day Guided Tour from Madrid

Andalusian Highlights: 6-Day Guided Tour from Madrid

clock Duration: 6 days
  • Enjoy this Multi-day tour around Andalusia, visiting Caceres, Sevilla, Cordoba, Ronda, Marbella, Granada and Toledo.

    Discover these monumental cities and the kindness of its people!

    Don´t forget take your camara!

    Have a nice...
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Andalusia 5-Day Guided Tour from Madrid via Cordoba

Andalusia 5-Day Guided Tour from Madrid via Cordoba

clock Duration: 5 days
  • Enjoy this tour around Andalusia with us and discover the most important cities and areas of the South!

    Visit Cordoba, Seville, and Ronda.

    You will also see the famous Mediterranean city of Marbella, Granada, ending this  beautiful multi day tour with the visit of the  medieval...
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Toledo On Your Own From Madrid & Zipline

Toledo On Your Own From Madrid & Zipline

clock Duration: 5 to 8 hou
  • If you like to travel at your own pace, we’ll take you to Toledo to enjoy a unique experience just the way you like the...
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Guided Walking Tour of Historical Madrid

Guided Walking Tour of Historical Madrid

clock Duration: 2 hours
  • On this 2 hour walking tour you will stroll down through the core of medieval Madrid accompanied by a guide. The winding streets of the Arch of Cutlers will lead you to some of the oldest buildings such as the house and tower of Lujanes where the King Francois I of France was held prisoner. You are offered several options to end the tour, combined...
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Toledo Half Day Tour With Optional Madrid Sightseeing or Flamenco Show

Toledo Half Day Tour With Optional Madrid Sightseeing or Flamenco Show

clock Duration: 5 hours
  • Book this 5-hour tour from Madrid and discover the amazing city of Toledo. Hop on an air-conditioned coach and learn all its history with the help of a professional guide. Upon arrival you will start with a  walking tour of the city.

    Optional combinations and schedule as published.

    Upgrade your experience and enjoy a panoramic tour...
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Cuenca with Ciudad Encantada & Toledo Full day tour in 2 days from Madrid

Cuenca with Ciudad Encantada & Toledo Full day tour in 2 days from Madrid

clock Duration: 2 days
  • Enjoy Cuenca and Toledo in two days! A perfect combination to discover both cities with guide and monuments included.

    Cuenca & Ciudad Encantada will be visited on the first day from 09:00am to 09:00pm

    The second day we will make a full day tour around Toledo.

    End of services in Madrid around...
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Toledo Half Day Tour From Madrid with optional Cathedral Admission

Toledo Half Day Tour From Madrid with optional Cathedral Admission

clock Duration: 5 to 6 hou
  • Choose between the morning or afternoon tour to visit Toledo and enjoy a round trip tour to the city of the three cultures. Walk through the old and narrow streets accompanied by a tour guide and have the opportunity to visit the Gothic Cathedral of Toledo.

    Morning Tour: Departing from Madrid towards Toledo, your tour guide will receive you...
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Madrid Royal Palace Guided Tour

Madrid Royal Palace Guided Tour

clock Duration: 1 hour
  • Discover with this brief tour one of the most popular places in Madrid, the Royal Palace. Entrance and guide are included on the tour.
    Please be ready 5 minutes before 12:00hrs at the group entrances (your guide will be ready waiting outside in the street) and enjoy...
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Private Guided Tour Of The Royal Palace & Old Madrid

Private Guided Tour Of The Royal Palace & Old Madrid

clock Duration: 4 hours
  • This is an essential tour in Madrid. To learn about the origins of the city and to experience the most "castizo" or genuin sector of Madrid. 

    We will start by the visit of the Royal Palace, the largest one in Europe!. It is very well preserved and you will learn about how was the Kings' life in such a magnificient building. The Royal...
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Toledo Private Guided fullday tour from Madrid

Toledo Private Guided fullday tour from Madrid

clock Duration: 7 hours
  • Toledo old town was declared by Unesco a " World Heritage Site" in 1986. And this was due to the great importance of the city in the old times and the many monuments that have been preserved from different periods . The whole old town is like an open air museum. If there is a city that sums up our country's history, that one is Toledo.

    I...
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Private Guided Tour Of Prado Museum and Retiro Park

Private Guided Tour Of Prado Museum and Retiro Park

clock Duration: 4 hours
  • Prado Museum is one of the must places in Madrid to visit. I am an expert in Spanish history and...
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The Royal Palace & Prado Museum: A must in Madrid

The Royal Palace & Prado Museum: A must in Madrid

clock Duration: 6 hours
  • 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 tour, you will enjoy the must-see places in Madrid and I will try to share with you my love for this city, Spanish History, Spanish Culture and Cuisine.
    On the other side, I paint myself as a hobby. I feel at home at...
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Cervantes Literary Experience in Madrid

Cervantes Literary Experience in Madrid

clock Duration: 60 to 90 m
  • On this literary tour, experience firsthand the stories of the legendary Spanish authors who brought to life what is now known as the Quarter of Letters of Madrid. From Cervantes, the author of Don Quixote, to Lope de Vega, you'll pass by the places where they lived and the stories they left behind, as well as their literary legacy. Your narrator...
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Private guided tour to Toledo with skip the line tickets to the Cathedral

Private guided tour to Toledo with skip the line tickets to the Cathedral

clock Duration: 2 to 8 hou
  • Have an incredible time discovering all the historical and cultural richness that Toledo has to offer, with the authentic touch that our local guides with years of experience provide, and visit the interior of the Catedral Primada de España, without having to wait to enter, skipping the ticket line.

    On our tour, we will walk through the...
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An alternative view of Madrid. A half day experience.

An alternative view of Madrid. A half day experience.

clock Duration: 4 hours
  • As the title says that tour is an alternative view of Madrid. By participating in this tour you will have the opportunity to discover the origins of the city. And when we say origins we mean a trip back in time when tribes used to be located in the area, then the Arabic period, the Cristian reconquer of the city and obviously the royal past and...
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Madrid's Tailor Made Food Experience.

Madrid's Tailor Made Food Experience.

clock Duration: 2 to 3 hou
  • This unique and exclusive gastronomical experience is to make you feel like a Madrid native. Our purpose is that you live the experience of "going for tapas" as a local really does. We have no agreement with any bar. The places we choose are because we really like them and we frequent them ourselves. Although there are some basics, the route...
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The secrets of Retiro Park

The secrets of Retiro Park

clock Duration: 2 to 3 hou
  • We will meet outside of the park and we will have a small introduction about Madrid and the surrounding area of the Park.

    Now we are inside the Park!

    Next step! Breathe pure air while you learn the history and some funny stories. Take the opportunity to discover the Retiro Park and understand the people of Spain better.

    Retiro...
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Follow the clues tour of Madrid.

Follow the clues tour of Madrid.

clock Duration: 2 hours
  • You will hear a story and you will have to reach a specific point into a period of 2 hours in order to complete the tour. We will travel trough history while we will try to complete our mission! Obviously, it is not a competition but a unique way to explore the city. This tour will be a combination of a self-observation and a historical tour in...
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Ghost of Madrid: Haunted City Exploration Game

Ghost of Madrid: Haunted City Exploration Game

clock Duration: 75 to 100
  • Go on a city exploration tour and start this spooky mission as the ghost of Diego Velázquez, the famous painter of the Spanish Golden Age, all on your smartphone.

    Follow clues and solve puzzles to save your lost soul, while visiting iconic landmarks such as the Royal Palace, Puerta del Sol, the Literary Quarter, the Prado Museum, and much...
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Madrid La Latina Quarter: City Exploration Game

Madrid La Latina Quarter: City Exploration Game

clock Duration: 50 to 80 m
  • Explore the streets of the Latin neighborhood of Madrid, by solving clues and unlocking stories on your phone. Play the engaging exploration game, reenacting the story of reenacting the role of Alaric Vermundo, Crown protector.

    As you solve challenges, the story unfolds and exact directions on your phone will guide you to the next location....
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Madrid’s Wild West: City Exploration Game

Madrid’s Wild West: City Exploration Game

clock Duration: 45 to 75 m
  • Discover Madrid’s ‘Wild West’ by solving clues and unlocking stories on your phone. Play this engaging exploration game by stepping into the mind of a famous mystery head!

    As you solve challenges, the story unfolds and exact directions on your phone will guide you to the next location. Up for a fun challenge?

    Highlights...
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Madrid Old Town Outdoor Escape Game: Escape the Inquisition

Madrid Old Town Outdoor Escape Game: Escape the Inquisition

clock Duration: 1 hour 10
  • Avoid tiresome and disengaging group tours and inject some fun into your vacation with this self-guided discovery tour of Madrid. Using an interactive city exploration app on your phone, solve clues to uncover the stories of hidden gems and iconic sights.

    + Discover Madrid's historical wonders, iconic sights, and hidden gems
    + Walk the...
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Madrid Hidden Gems: Don Quixote Outdoor Escape Game

Madrid Hidden Gems: Don Quixote Outdoor Escape Game

clock Duration: 2 hours
  • Discover the magical back streets of Madrid’s most intriguing neighborhoods. You’ll visit the monumental spots for famous authors and artists such as Ernest Hemingway, Francisco de Goya, Lope de Vega, and Spain's most beloved and famous author Miguel de Cervantes.

    Visit secluded churches, old restaurants, hidden writings, and eclectic...
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Guided Visit to the Royal Palace of Madrid in Spanish

Guided Visit to the Royal Palace of Madrid in Spanish

clock Duration: 1 hour 30
  • Discover the Royal Palace, the largest of its kind in Europe, which is currently used for state ceremonies and solemn acts. Each of its corners will surprise you on this guided tour, where your guide will show you the main rooms. It has more than 2,500 rooms, it has Stradivarius musical instruments that are more than 300 years old, and precious...
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Guided visit to Prado Museum only in English

Guided visit to Prado Museum only in English

clock Duration: 1 hour 30
  • Visit one of the most important art galleries and sculpture collections in the world with our guide. Learn about the history of art in Spain thanks to the works of El Greco, Velázquez or Goya, and learn about the society of the time through their paintings. A visit not to be missed.
    Skip the line and explore El Prado with a knowledgeable guide...
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