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15 Best Historical Tours In Madrid

Madrid’s best, experience by experience.

The 15 most popular historical tours in Madrid right now. The ones worth building a day around, with what each costs, how long it runs and who you book it through.

15 Best Historical Tours In Madrid

Madrid Essential: Historic Center, Plaza Mayor & Royal Palace - Arco de Cuchilleros: old Madrid credentials in a tiny stretch
Historical Tours, Madrid, Madrid Walking Tours, Royal Palace Tours, Tour Reviews

Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

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1.Madrid Essential: Historic Center, Plaza Mayor & Royal Palace

A lively walking tour through Madrid’s core, from Puerta del Sol and Plaza Mayor to the Royal Palace views, with flamenco and local tips.

Most Popular★ 5.0

“tour guide (david) was super knowledgeable. could easily be a history teacher. tour was a nice walk, not too far, not too short. learned alot and was a great way to spend a few hours in an afternoon. would highly recommend.”

6,416 reviews2 hours 30 minutes (approx.)From $3.62by Tours Madrid | TOURSTILLA

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Madrid Historical Walking Tour - Starting at Puerta del Sol: the Madrid switchboard
Historical Tours, Madrid, Madrid Walking Tours, Tour Reviews, Tours, Walking Tours

Madrid Historical Walking Tour

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2.Madrid Historical Walking Tour

Madrid’s top historic center in one easy walk: Puerta del Sol, Plaza Mayor, Botín, Mercado San Miguel, Almudena, Palace, Teatro Real.

★ 5.0

“Walked all over town. Our guide (can't recall his name) was amazing ...entertaining, informative, and stopped traffic for our group. For those who don't know: these are "free tours" with a minimum 15 Euro tip to the guide.”

721 reviews2 hours 20 minutes (approx.)From $3.62

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Madrid Local's Tapas Tour Dinner with a side of History - Meeting at Plaza de Isabel II, then a tight 3.5-hour route
Dining Experiences, Dinner Experiences, Historical Tours, Madrid, Tapas Food Tours, Tour Reviews, Tours

Madrid Local’s Tapas Tour Dinner with a side of History

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3.Madrid Local’s Tapas Tour Dinner with a side of History

Small-group Madrid tapas dinner walk with history. Learn to order like locals, taste croquettes, ham, paella, wine, and digestifs.

★ 5.0

“Great evening of food, culture and history of Madrid with an easy walk around central Madrid. Pablo was a fantastic guide, answered all our questions, and knew a lot of ins and outs having grown up here. Would definitely recommend!”

530 reviews3 hours 30 minutes (approx.)From $114.88by Native Spanish Tapas

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Guided Tour of Madrid of the Austrias and the Historic Center - Mercado de San Miguel: a quick charm stop, not a long meal
Guided, Historical Tours, Madrid, Madrid Walking Tours, Tour Reviews, Tours

Guided Tour of Madrid of the Austrias and the Historic Center

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4.Guided Tour of Madrid of the Austrias and the Historic Center

A 2.5-hour guided walk through Madrid’s Austrias and Historic Center, from Puerta del Sol to Teatro Real, with great storytelling.

★ 5.0

“We loved our walking tour! Esme was amazing! She was so knowledgeable about the city and told us the history through stories. She is a great story teller and made the walking tour very fun! Due to our small tour size she also allowed us to stop and certain places for longer period of times…”

520 reviews2 hours 30 minutes (approx.)From $2.41by Trip Tours Madrid

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Segway Private Tour in the Historic Center of Madrid - Plaza Mayor and Plaza del Comercio: where the city shows off
Historical Tours, Madrid, Madrid Walking Tours, Private, Segway Tours, Tour Reviews, Tours

Segway Private Tour in the Historic Center of Madrid

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5.Segway Private Tour in the Historic Center of Madrid

Private Segway tour in Madrid’s historic center. Learn fast, glide past top sights, and choose a 1–3 hour route in English.

★ 5.0

“The Segways were easy to learn and control. We did the 2 hour tour which included parts of the historic district and El Retiro Park. Andrei gave us interesting highlights along the way, plus made sure we were safely escorted through traffic.”

310 reviews1 to 3 hours (approx.)From $42.34by SEGCITYTOURS

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Madrid Historical Centre & Old Town Walking Tour in French - Plaza Mayor and San Ginés: Icons With Real-World Context
Historical Tours, Madrid, Madrid Walking Tours, Tour Reviews, Tours, Walking Tours

Madrid Historical Centre & Old Town Walking Tour in French

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Madrid: Tapas, Taverns & History Tour - Stop-by-Stop: From Vermouth at the First Tavern to Garlic Shrimp
Historical Tours, Madrid, Tapas Food Tours, Tour Reviews, Tours

Madrid: Tapas, Taverns & History Tour

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Medieval Madrid: Discover Legends & History - Stop 1: Plaza Mayor—Madrid’s old-school public stage
Ghost & Mystery Tours, Historical Tours, Madrid, Tour Reviews

Medieval Madrid: Discover Legends & History

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Essential Madrid: Walking Tour of the Historic Center - Plaza de Ramales to Mirador Calle Factor: Velázquez and a strong first view
Historical Tours, Madrid, Madrid Walking Tours, Tour Reviews, Tours, Walking Tours

Essential Madrid: Walking Tour of the Historic Center

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Prado Museum Art History Tour - Jaime Sánchez’ Chronological Approach: How the Museum Stops Feeling Random
Historical Tours, Madrid, Museums, Prado Museum Tours, Tour Reviews, Tours

Prado Museum Art History Tour

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12.Prado Museum Art History Tour

Prado Museum art history tour in Madrid with a small-group English guide, key masterpieces from Gothic to Goya, 2.5 hours.

★ 5.0

“The Prado is such an amazing museum and the collection is beyond extraordinary... that being said I cannot imagine trying to navigate that impressive and large collection without an expert to help guide you through the important pieces... otherwise you would get overwhelmed in the first hour. Jaime was simply amazing and his passion for…”

53 reviews2 hours 30 minutes (approx.)From $75.00by Buzziler

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Madrid: Royal Palace, Prado Museum & Historic Center Tour - Meeting at Monument to Goya: where the day starts
Historical Tours, Madrid, Madrid Walking Tours, Museums, Prado Museum Tours, Royal Palace Tours, Tour Reviews, Tours

Madrid: Royal Palace, Prado Museum & Historic Center Tour

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Tapas Crawl in Madrid Historical Quarter for Lunch or Dinner - Price and value: what $102 buys you in Madrid terms
Dining Experiences, Dinner Experiences, Historical Tours, Lunch Experiences, Madrid, Pub Crawls & Nightlife, Tapas Food Tours, Tour Reviews

Tapas Crawl in Madrid Historical Quarter for Lunch or Dinner

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14.Tapas Crawl in Madrid Historical Quarter for Lunch or Dinner

Small-group tapas crawl through Madrid’s Old Quarter: 4 emblematic bars, history on the streets, and guided tastings with wine or beer.

★ 4.9

“The tour was outstanding and a lot of fun. Brian is very knowledgeable and really makes the experience worth while. I highly recommend this tour. The jamon was top quality and even the wine selections were done with care.”

45 reviews3.5 hoursFrom $102by Madrid Tapas Trip

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Madrid: Authentic Tapas Evening Tour with a side of History - Walking the old quarter: how the history fits without slowing dinner
Evening Experiences, Historical Tours, Madrid, Tapas Food Tours, Tour Reviews, Tours

Madrid: Authentic Tapas Evening Tour with a side of History

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