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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

“Visiting Madrid is so much better after this engaging and interesting tour of this historic city. We saw things we would not have discovered on our own nor did I read about in general searching of things of interest. Also this took some history into great stories we will remember. While we have a short…”

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

“Great overview of Madrid! Jean was a fantastic guide : perfect balance of history, fun and recommendations.”

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

“Daniel was amazing! We had a great time learning about the history of Madrid and enjoyed drinking and eating the local cuisine. Daniel knew all the great places to go. I highly recommend this tour for a unique cultural experience.”

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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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

“Ladies at the Segway store were super helpful Our guide MARIA was fantastic. Very patient gave us good instructions for navigating Segway, her English was perfect ! Good knowledge history strongly recommend to anyone Who wants to experience Madrid highlights instead of walking in the heat of summer 🤩♨️🥵”

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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6.Madrid Historical Centre & Old Town Walking Tour in French

French small-group walk through Madrid’s historic center from Puerta Cerrada to Plaza Mayor, markets, palace, and Almudena Cathedral.

★ 4.8

“Leire made this walking tour informative interesting and amusing. What a wonderful guide with amazing knowledge and interesting stories. I thoroughly enjoyed this tour and would recommend to anybody visiting Madrid. Thank you Leire, you should be promoted to minister of tourism!”

129 reviewsFrom $33by Madrid Pour Vous

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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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9.Madrid: Tapas, Taverns & History Tour

Madrid tapas with history on foot: 9+ bites and 4 drinks across classic bars, plus key sights from Plaza Mayor to the Royal Palace.

★ 4.7

“David is a wonderful guide that is able to make everyone feel like they're out on the town with an old friend. I had a great time and would recommend this tour if you want to learn the ins and outs of dining in Spain.”

71 reviews3.5 hoursFrom $89by Devour Tours

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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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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 very big, and the collection can be overwhelming, so this tour was the right amount of time to take a bite into some really important pieces/artists. Our guide, Jaime, did a great job. I think we all felt that we learned a lot, and my regret was having scheduled a train reservation…”

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

“We absolutely loved this tour. Our guide was perfect. The history, food, and drinks were the best! A lot of thought and planning is put into this tour and we would definitely recommend it to anyone wanting to get a great introduction to Madrid!”

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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15.Madrid: Authentic Tapas Evening Tour with a side of History

A small-group tapas and history walk in Madrid with classic bites, local drinks, a full dinner, and helpful guidance for your trip.

★ 4.9

“Amazing tour! Totally unexpected, the guide took us to places where real Madrid locals go for tapas, which were abundant and really top quality, and the paella was the best we've had so far in Spain. We also had all kinds of drinks from wine, beer, homemade sangria and after dinner shots, we slept like…”

37 reviews3.5 hoursFrom $93by Native Spanish Tapas

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