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Top 10 Best Madrid Historical & Heritage Tours

Found 687 Historical & Heritage Tours activities in Madrid. Sort by Popularity.
 

Royal Palace of Madrid Small Group Skip the Line Ticket

(4.4 of 622 reviews)

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 the Plaza Mayor, Calle del Codo, Plaza de la Villa and finally reach the Royal Palace through ... More

Free Cancellation
Start From $63.36
 
Royal Palace of Madrid Small Group Skip the Line Ticket

Royal Palace of Madrid Small Group Skip the Line Ticket

  • Madrid
  • Exellent622 reviews4.4

Only 15 passengers maximum for this semi-private visit to the Royal Palace. We will start our visit ....

    Free Cancellation
    Start From $63.36
 
 

Avila & Segovia Tour with Tickets to Monuments from Madrid

(4.8 of 9,206 reviews)

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 unique excursion to discover two of the oldest and most iconic cities in Spain on a co... More

Free Cancellation
Start From $92.69
 
Avila & Segovia Tour with Tickets to Monuments from Madrid

Avila & Segovia Tour with Tickets to Monuments from Madrid

  • Madrid
  • Superb9,206 reviews4.8

The Best Excursion to Ávila and Segovia from Madrid The only tour to Ávila and Segovia rated 5 st....

    Free Cancellation
    Start From $92.69
 
 

Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church

(4.8 of 6,374 reviews)

Only Tour to Toledo from Madrid Rated 5 Star - Certificate of Excellence Discover the “City of the three cultures” with our Full day Toledo. An 8-hour tour from Madrid that explores its historic center. You will discover the... More

Free Cancellation
Start From $92.69
 
Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church

Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church

  • Madrid
  • Superb6,374 reviews4.8

Only Tour to Toledo from Madrid Rated 5 Star - Certificate of Excellence Discover the “City of t....

    Free Cancellation
    Start From $92.69
 
 

Madrid Tapas & Taverns Small Group Food & History Tour

(4.9 of 2,494 reviews)

Madrid’s history comes to life through food and fascinating stories on this one-of-a-kind tapas crawl. In between stops at some of the city’s oldest tapas bars, you’ll embark on a journey through hundreds of years of history... More

Free Cancellation
Start From $92.69
 
 Madrid Tapas & Taverns Small Group Food & History Tour

Madrid Tapas & Taverns Small Group Food & History Tour

  • Madrid
  • Superb2,494 reviews4.9

Madrid’s history comes to life through food and fascinating stories on this one-of-a-kind tapas cr....

    Free Cancellation
    Start From $92.69
 
 

Toledo, Segovia and Avila from Madrid with Tickets and Lunch

(4.7 of 207 reviews)

Discover why this tour won the TRIPADVISOR TRAVELERS' CHOICE AWARD 2025! Visit Toledo, the second Rome, declared a World Heritage Site by UNESCO, and do not miss the opportunity to explore its narrow streets, squares, and gardens... More

Free Cancellation
Start From $92.69
 
Toledo, Segovia and Avila from Madrid with Tickets and Lunch

Toledo, Segovia and Avila from Madrid with Tickets and Lunch

  • Madrid
  • Superb207 reviews4.7

Discover why this tour won the TRIPADVISOR TRAVELERS' CHOICE AWARD 2025! Visit Toledo, the second R....

    Free Cancellation
    Start From $92.69
 
 

Escorial Monastery and the Valley of the Fallen Tour from Madrid

(4.8 of 2,365 reviews)

On this excursion we will visit the Royal Monastery of El Escorial, an architectural heritage site of the Humanity, and the Basilica of the Valle de los Caídos, a monument that stands out for its gigantic size. 5 hour direct... More

Free Cancellation
Start From $69.23
 
Escorial Monastery and the Valley of the Fallen Tour from Madrid

Escorial Monastery and the Valley of the Fallen Tour from Madrid

  • Madrid
  • Superb2,365 reviews4.8

On this excursion we will visit the Royal Monastery of El Escorial, an architectural heritage site....

    Free Cancellation
    Start From $69.23
 
 

Segovia and Toledo Day Tour from Madrid with Optional Alcazar

(4.6 of 1,627 reviews)

Embark on an unforgettable journey through Spanish history and culture with our Segovia & Toledo Tour. In just one day, you'll discover the timeless charm of two UNESCO World Heritage cities. Explore the ancient Roman aqueduct and... More

Free Cancellation
Start From $75.09
 
Segovia and Toledo Day Tour from Madrid with Optional Alcazar

Segovia and Toledo Day Tour from Madrid with Optional Alcazar

  • Madrid
  • Superb1,627 reviews4.6

Embark on an unforgettable journey through Spanish history and culture with our Segovia & Toledo Tou....

    Free Cancellation
    Start From $75.09
 
 

Prado Museum Small Group Tour with Skip the Line Ticket

(4.9 of 1,680 reviews)

We are proud to say that this experience was awarded with the Viator Experience Award 2023 for second time in a row! This tour goes through the Prado Museum highlights. There are more than one thousand paintings inside (no, we did... More

Free Cancellation
Start From $52.80
 
Prado Museum Small Group Tour with Skip the Line Ticket

Prado Museum Small Group Tour with Skip the Line Ticket

  • Madrid
  • Superb1,680 reviews4.9

We are proud to say that this experience was awarded with the Viator Experience Award 2023 for secon....

    Free Cancellation
    Start From $52.80
 
 

Toledo Private Tour with Licensed Guide and Driver from Madrid

(5 of 617 reviews)

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 Valle viewpoint, before moving on to the guided walking tour. After the tour, and depending on... More

Free Cancellation
Private Tour
Start From $363.72
 
Toledo Private Tour with Licensed Guide and Driver from Madrid

Toledo Private Tour with Licensed Guide and Driver from Madrid

  • Madrid
  • Superb617 reviews5

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

    Free Cancellation
    Private Tour
    Start From $363.72
 
 

Tour of the Don Quixote Windmills of La Mancha and Toledo with Lunch

(4.9 of 197 reviews)

You like literature, dreams and discovering wonderful things, being able to have a quiet, private and respectful experience and being able to discover this wonderful place. Join me to discover, the Magic Mills of Miguel de Cervan... More

Free Cancellation
Private Tour
Start From $146.66
 
Tour of the Don Quixote Windmills of La Mancha and Toledo with Lunch

Tour of the Don Quixote Windmills of La Mancha and Toledo with Lu....

  • Madrid
  • Superb197 reviews4.9

You like literature, dreams and discovering wonderful things, being able to have a quiet, private an....

    Free Cancellation
    Private Tour
    Start From $146.66
 
 

Toledo Private Tour with Local Guide. Pick up in Madrid optional

(5 of 268 reviews)

If you want a unique experience in Toledo, to get to know it thoroughly and away from mass tourism, we will take you through a Historic Centre full of monuments and places of interest. With the help of an Official Local Guide, you... More

Free Cancellation
Private Tour
Start From $305.06
 
Toledo Private Tour with Local Guide. Pick up in Madrid optional

Toledo Private Tour with Local Guide. Pick up in Madrid optional

  • Madrid
  • Superb268 reviews5

If you want a unique experience in Toledo, to get to know it thoroughly and away from mass tourism, ....

    Free Cancellation
    Private Tour
    Start From $305.06
 
 

From Madrid: Segovia & Toledo with Alcazar and Cathedral

(4.5 of 569 reviews)

Embark on an unforgettable journey from Madrid and explore two of Spain’s most enchanting World Heritage cities — Toledo and Segovia. Walk through centuries of history as you marvel at the Roman Aqueduct of Segovia, one of th... More

Free Cancellation
Private Tour
Start From $48.11
 
From Madrid: Segovia & Toledo with Alcazar and Cathedral

From Madrid: Segovia & Toledo with Alcazar and Cathedral

  • Madrid
  • Exellent569 reviews4.5

Embark on an unforgettable journey from Madrid and explore two of Spain’s most enchanting World He....

    Free Cancellation
    Private Tour
    Start From $48.11
 
 

Travel through Segovia and Avila in a Small Group from Madrid

(4.9 of 13 reviews)

Explore Segovia and Avila in one day in the most fun and exclusive way! maximum 8 travelers, without hurry and with room to enjoy every moment. In Segovia we will start with the incredible Alcázar, a fairytale castle, and then w... More

Free Cancellation
Private Tour
Start From $152.53
 
Travel through Segovia and Avila in a Small Group from Madrid

Travel through Segovia and Avila in a Small Group from Madrid

  • Madrid
  • Superb13 reviews4.9

Explore Segovia and Avila in one day in the most fun and exclusive way! maximum 8 travelers, without....

    Free Cancellation
    Private Tour
    Start From $152.53
 
 

Madrid to Avila & Segovia: Full-Day Highlights Tour

(4.6 of 655 reviews)

Only Tour to Avila and Segovia Rated 5 Star - Certificate of Excellence On this Tour we will visit the cities of Segovia and Ávila, declared World Heritage Sites by UNESCO on this day trip from Madrid. We will visit the old tow... More

Free Cancellation
Private Tour
Start From $59.84
 
Madrid to Avila & Segovia: Full-Day Highlights Tour

Madrid to Avila & Segovia: Full-Day Highlights Tour

  • Madrid
  • Superb655 reviews4.6

Only Tour to Avila and Segovia Rated 5 Star - Certificate of Excellence On this Tour we will visit....

    Free Cancellation
    Private Tour
    Start From $59.84
 
 

Toledo Private Tour with Licensed Local Guide

(5 of 852 reviews)

Discover Toledo with the best licensed guides from the city’s most experienced tour company, operating since 1995 with over 30 years of expertise. Enjoy a private walking tour of 3 or 6 hours, tailored to your pace and interests... More

Free Cancellation
Private Tour
Start From $258.13
 
Toledo Private Tour with Licensed Local Guide Likely to Sell Out

Toledo Private Tour with Licensed Local Guide

  • Madrid
  • Superb852 reviews5

Discover Toledo with the best licensed guides from the city’s most experienced tour company, opera....

    Free Cancellation
    Private Tour
    Start From $258.13
 
 

Big Bus Madrid Panoramic City Tour

(3.9 of 210 reviews)

Discover the exciting and vibrant city of Madrid on-board an open top panoramic sightseeing bus tour. From the top deck of a double decker bus, experience unrivalled 360 degree views of the city's most iconic sights and landmarks ... More

Free Cancellation
Private Tour
Start From $28.16
 
Big Bus Madrid Panoramic City Tour Likely to Sell Out

Big Bus Madrid Panoramic City Tour

  • Madrid
  • Very Good210 reviews3.9

Discover the exciting and vibrant city of Madrid on-board an open top panoramic sightseeing bus tour....

    Free Cancellation
    Private Tour
    Start From $28.16
 
 

Toledo Day Trip from Madrid: Cathedral & Monuments

(4.8 of 361 reviews)

Travel to Toledo with your official guide and discover the secrets and mysteries of the "city of three cultures" with this full day trip to Toledo from Madrid. This 8-hour tour explores Toledo's Primate Cathedral and the historic ... More

Free Cancellation
Private Tour
Start From $134.92
 
Toledo Day Trip from Madrid: Cathedral & Monuments Likely to Sell Out

Toledo Day Trip from Madrid: Cathedral & Monuments

  • Madrid
  • Superb361 reviews4.8

Travel to Toledo with your official guide and discover the secrets and mysteries of the "city of thr....

    Free Cancellation
    Private Tour
    Start From $134.92
 
 

Madrid Tapas, Wine and History Tour

(5 of 203 reviews)

Discover the true essence of Madrid on an unforgettable tapas and history tour through the city's Royal and Literary Quarters. Guided by local experts who know Madrid inside out, you’ll visit four of the most iconic and historic... More

Free Cancellation
Private Tour
Start From $92.69
 
Madrid Tapas, Wine and History Tour Likely to Sell Out

Madrid Tapas, Wine and History Tour

  • Madrid
  • Superb203 reviews5

Discover the true essence of Madrid on an unforgettable tapas and history tour through the city's Ro....

    Free Cancellation
    Private Tour
    Start From $92.69
 
 

Madrid 2.5 Hour Historical Tour by Bike or E Bike

(5 of 9 reviews)

Discover the magic of Madrid on a 2.5-hour guided bike or e-bike tour led by a passionate local expert. Whether you prefer a classic bicycle or the ease of an electric one, this experience offers a comfortable and immersive way to... More

Free Cancellation
Private Tour
Start From $31.68
 
Madrid 2.5 Hour Historical Tour by Bike or E Bike Likely to Sell Out

Madrid 2.5 Hour Historical Tour by Bike or E Bike

  • Madrid
  • Superb9 reviews5

Discover the magic of Madrid on a 2.5-hour guided bike or e-bike tour led by a passionate local expe....

    Free Cancellation
    Private Tour
    Start From $31.68
 
 

Full Day Tour to Avila & Segovia from Madrid

(4.8 of 1,052 reviews)

Leave the crowds of Madrid behind and set off to discover Ávila and Segovia on this full-day tour. Walk the ancient streets of Ávila and lose yourself in the fortified city’s architecture among the Roman churches, a 12th-centu... More

Free Cancellation
Private Tour
Start From $58.67
 
Full Day Tour to Avila & Segovia from Madrid Likely to Sell Out

Full Day Tour to Avila & Segovia from Madrid

  • Madrid
  • Superb1,052 reviews4.8

Leave the crowds of Madrid behind and set off to discover Ávila and Segovia on this full-day tour. ....

    Free Cancellation
    Private Tour
    Start From $58.67
 
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