Walking Tours in Madrid
Top 10 Best Madrid Walking Tours
Found 818 Walking Tours activities in Madrid. Sort by Popularity.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 location, ready and waiting for you. From there, we'll stroll through Plaza de Oriente, ... More
Likely to Sell Out Madrid: Royal Palace Guided Tour with Skip the Line Ticket
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Madrid
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Superb1,990 reviews4.7
Ready to dive into the opulent world of Madrid's Royal Palace? I'm your guide for this incredible jo....
Three Cities in One Day: Segovia, Avila and Toledo from Madrid
Join this 11-hour trip from Madrid that takes you to three cities in just one day. Come and discover three cities named World Heritage sites by UNESCO, and just a short distance from Madrid. Join us and our official professional g... More
Likely to Sell Out Three Cities in One Day: Segovia, Avila and Toledo from Madrid
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Madrid
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Superb8,951 reviews4.8
Join this 11-hour trip from Madrid that takes you to three cities in just one day. Come and discover....
Madrid Tapas & Wine Tasting Walking Tour – Small Group Local Bars
Explore Madrid on foot on this 3-hour small-group tapas and wine tour in the heart of the city center. Visit four local bars loved by Madrileños, tasting over 10 traditional tapas paired with excellent Spanish wines. Led by exc... More
Likely to Sell Out Madrid Tapas & Wine Tasting Walking Tour – Small Group Local Ba....
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Madrid
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Superb3,785 reviews4.9
Explore Madrid on foot on this 3-hour small-group tapas and wine tour in the heart of the city cente....
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 big fan of art you cannot miss this 90 minute guided tour. The visit will t... More
Likely to Sell Out Prado Museum Guided Tour with Skip-the-Line Ticket
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Madrid
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Exellent1,304 reviews4.5
Visit Prado Museum and admire the works of important artists such as Goya, Velázquez, Rubens, and C....
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 unique excursion to discover two of the oldest and most iconic cities in Spain on a co... More
Likely to Sell Out Avila & Segovia Tour with Tickets to Monuments from Madrid
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Madrid
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Superb10,462 reviews4.8
The Best Excursion to Ávila and Segovia from Madrid The only tour to Ávila and Segovia rated 5 st....
Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch
Discover why this tour won the TRIPADVISOR TRAVELERS' CHOICE AWARD 2025! The story of Medieval Spain is a blend of Roman influence, Muslim rule, Jewish culture, and Christian rise, and there may be no better examples of this hist... More
Likely to Sell Out Toledo & Segovia Tour with Cathedral and Alcazar Tickets & Lunch
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Madrid
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Superb4,516 reviews4.6
Discover why this tour won the TRIPADVISOR TRAVELERS' CHOICE AWARD 2025! The story of Medieval Spai....
Likely to Sell Out
Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket
The tour starts at the door of the Fun and Tickets office at Calle Mayor, 43 with a guided tour on the way to the Royal Palace. The tour includes the visit of the Royal Palace of Madrid with official guides and Skip the line.... More
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Likely to Sell Out Madrid Old Town & Royal Palace Walking Tour Skip the Line Ticket
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Madrid
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Exellent1,919 reviews4.5
The tour starts at the door of the Fun and Tickets office at Calle Mayor, 43 with a guided tour on t....
Free Cancellation
Skip The Line
(Saving 12% )
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 the Plaza Mayor, Calle del Codo, Plaza de la Villa and finally reach the Royal Palace through ... More
Skip The Line
Likely to Sell Out Royal Palace of Madrid Small Group Skip the Line Ticket
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Madrid
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Exellent724 reviews4.4
Only 15 passengers maximum for this semi-private visit to the Royal Palace. We will start our visit ....
Skip The Line
Bernabeu Stadium & Real Madrid Museum Guided Tour
Visit the stadium of one of the most important clubs in the world. Explore the venue with a local guide and discover the club essence. Take a guided tour of the Real Madrid Museum, where you can learn all about its history and enj... More
Skip The Line
Likely to Sell Out Bernabeu Stadium & Real Madrid Museum Guided Tour
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Madrid
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Exellent418 reviews4.2
Visit the stadium of one of the most important clubs in the world. Explore the venue with a local gu....
Skip The Line
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, and to the Prado Art Musuem - the cultural jewel of Spain... More
Skip The Line
Likely to Sell Out Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum
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Madrid
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Superb682 reviews4.8
Explore the best of Madrid with this expertly guided walking tour featuring skip-the-line tickets to....
Skip The Line
Madrid Countryside Wineries Guided Tour with Wine Tasting
The Madrid Wine Tour takes you to three wineries in the countryside of Madrid, with a selection of wines to taste, accompanied by delicious tapas and small dishes. You will explore the Tagus River Valley, a historic and prestigio... More
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Likely to Sell Out Madrid Countryside Wineries Guided Tour with Wine Tasting
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Madrid
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Superb770 reviews4.9
The Madrid Wine Tour takes you to three wineries in the countryside of Madrid, with a selection of w....
Skip The Line
Madrid Tapas & Taverns Small Group Food & History Tour
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
Skip The Line
Likely to Sell Out Madrid Tapas & Taverns Small Group Food & History Tour
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Madrid
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Superb2,901 reviews4.9
Madrid’s history comes to life through food and fascinating stories on this one-of-a-kind tapas cr....
Skip The Line
Prado Museum Small Group Tour with Skip the Line Ticket
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
Skip The Line
Likely to Sell Out Prado Museum Small Group Tour with Skip the Line Ticket
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Madrid
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Superb1,789 reviews4.9
We are proud to say that this experience was awarded with the Viator Experience Award 2023 for secon....
Skip The Line
Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church
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
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Likely to Sell Out Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church
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Madrid
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Superb7,175 reviews4.8
Only Tour to Toledo from Madrid Rated 5 Star - Certificate of Excellence Discover the “City of t....
Skip The Line
Royal Palace & Prado Museum Skip the Line Guided Tour
This tour takes you to two of Madrid’s most famous landmarks. First, enjoy a guided visit to the Royal Palace, one of Europe’s largest and most beautiful palaces. Explore its stunning rooms and halls, learning about its rich h... More
Skip The Line
Likely to Sell Out Royal Palace & Prado Museum Skip the Line Guided Tour
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Madrid
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Exellent1,393 reviews4.5
This tour takes you to two of Madrid’s most famous landmarks. First, enjoy a guided visit to the R....
Skip The Line
Prado Museum & Royal Palace: Madrid Guided 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 magnificent Royal Palace, you'll experience the beauty of one of Europe's largest pal... More
Skip The Line
Likely to Sell Out Prado Museum & Royal Palace: Madrid Guided Tour in English
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Madrid
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Superb137 reviews4.7
This unique tour offers you the chance to explore two of Madrid's most iconic and culturally rich la....
Skip The Line
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 de las Letras, stopping at authentic bars loved by locals. Taste iconic dishes, f... More
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Likely to Sell Out Madrid Tapas & Wine Tour with Rooftop Views and Local Guide
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Madrid
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Superb2,117 reviews5
Discover Madrid through its flavors on a tapas and wine tour led by a local expert. Wander through c....
Skip The Line
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 in 1986. The more than 2000 years of existence have given the city a huge historic... More
Skip The Line
Likely to Sell Out Toledo Half or Full Day Tour with Optional Lunch from Madrid
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Madrid
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Exellent5,994 reviews4.5
Dive into its history and discover a perfect mix of Arab, Jewish and Christian cultures. Wander arou....
Skip The Line
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 Valle viewpoint, before moving on to the guided walking tour. After the tour, and depending on... More
Skip The Line
Private Tour
Likely to Sell Out Toledo Private Tour with Licensed Guide and Driver from Madrid
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Madrid
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Superb653 reviews5
Your guide will meet you at the tourist office, to kick off your visit with a panoramic tour around ....
Skip The Line
Private Tour
Toledo Private Tour with Licensed Local Guide
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
Skip The Line
Private Tour
Likely to Sell Out Toledo Private Tour with Licensed Local Guide
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Madrid
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Superb910 reviews5
Discover Toledo with the best licensed guides from the city’s most experienced tour company, opera....
Skip The Line
Private Tour