Top 15 Historical Tours in Madrid

Madrid Essential: Historic Center, Plaza Mayor & Royal Palace - Plaza Mayor, from public spectacle to squid sandwiches

★★★★★★★★★★5.0 · 6,416 reviews · 2 hours 30 minutes (approx.) Our pick

Explore Madrid’s old center on a lively walking tour of Sol, Plaza Mayor, Arab walls, Almudena Cathedral, and the Royal Palace.

“Must do tour for everyone visiting Madrid. Javier has done an outstanding job touring the city with lot of history, fun facts and giving us insights on best restaurants etc. His presentation was extremely engaging and entertaining. Thank you Javier!!!”

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Guided, Historical Tours, Private, Tour Reviews, Tours, Tuk-Tuks

Madrid Historical Tour with Local Guide in Eco Tuk Tuk Private

2.Madrid Historical Tour with Local Guide in Eco Tuk Tuk Private

★★★★★★★★★★5.0 · 876 reviews · 1 to 4 hours (approx.) · from $28

See Madrid’s grand sights by private electric tuk-tuk, with local stories, photo stops, blankets, and an easy city overview.

“Clara was super friendly, answered all of our questions and chatted with us about her life in Spain as well as the city and history. She was a very safe driver and had a great tour route planned!”

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Food, Food & Drink, Historic Center Tours, Historical Tours, Tapas Tours, Tour Reviews, Tours, Wine Tours

Madrid Historic Centre Food Tour with Authentic Tapas & Wines

3.Madrid Historic Centre Food Tour with Authentic Tapas & Wines

★★★★★★★★★★5.0 · 814 reviews · 2 to 3 hours (approx.) · from $78

Taste Madrid through ham, tapas, cider, vermouth, and squid sandwiches while exploring the old center with a small-group local guide.

“Jorge is very knowledgeable about the history of Madrid, and brought us to restaurants where locals also frequent. The food was very tasty and delicious. Definitely recommend Jorge as your food tour guide guy.”

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Historical Tours, Tour Reviews, Tours, Walking Tours

Madrid Historical Walking Tour

4.Madrid Historical Walking Tour

★★★★★★★★★★5.0 · 721 reviews · 2 hours 20 minutes (approx.) · from $3Best value

Explore Madrid’s old center on a low-cost guided walk from Puerta del Sol to the Royal Theater, with history, food stops, and local tips.

“A wonderful experience to get extra detail on Madrid & its history with a wonderful Guide Glenn who was exceptional in his facts history and detail”

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Historic Center Tours, Historical Tours, Museums, Prado Museum Tours, Royal Palace Tours, Tour Reviews, Tours

Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum

5.Madrid in a Day Tour:Royal Palace, Historic Center & Prado Museum

★★★★★★★★★★5.0 · 628 reviews · 4 hours (approx.) · from $119

See Madrid’s Prado, Royal Palace, Plaza Mayor, and Puerta del Sol in four guided hours with skip-the-line entry and a small group.

“Such an amazing experience! It was a combination of great food, great company, and interesting information. Carolyn was really fantastic. She's full of knowledge on both food and the city of Madrid. Her English is terrific and she's very easy to understand, making the tour all that more enjoyable. We tried a variety of Madrid food staples and even got to skip a huge line at a very popular spot. We had plenty of food, all of it delicious, and the walk was easy and delightful. It felt like a night out with friends popping into different establishments. We highly recommend this tour. It's a really fantastic way to get…”

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Dining Experiences, Dinner Experiences, Historical Tours, Tapas Tours, Tour Reviews, Tours

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

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

★★★★★★★★★★5.0 · 530 reviews · 3 hours 30 minutes (approx.) · from $114

Spend an evening walking Madrid’s old quarters, tasting tapas, sipping Spanish drinks, and finishing with paella and local history.

“Sharing the experience of eating traditional food . Daniel had excellent knowledge of history. He made us feel like family gathering for a meal.”

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Guided, Historic Center Tours, Historical Tours, Tour Reviews, Tours

Guided Tour of Madrid of the Austrias and the Historic Center

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

★★★★★★★★★★5.0 · 520 reviews · 2 hours 30 minutes (approx.)

Review of Madrid’s Austrias walking tour, covering Puerta del Sol, Plaza Mayor, the palace district, guides, value, pace, and practical tips.

“Great guide and very informative about the cities history. I will recommend this city tour to others.”

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Historic Center Tours, Historical Tours, Private, Segway Tours, Tour Reviews, Tours

Segway Private Tour in the Historic Center of Madrid

8.Segway Private Tour in the Historic Center of Madrid

★★★★★★★★★★5.0 · 310 reviews · 1 to 3 hours (approx.) · from $42

Glide through Madrid’s old center and Retiro Park on a private Segway tour with local guides, palace views, training, and flexible timing.

“Our guide, Rocio, was absolutely wonderful. Her passion for Madrid and its rich history truly shines through. Exploring Retiro Park by Segway was a fantastic experience—it’s a stunning, expansive, and peaceful place that’s perfect for this kind of tour. Rocio was incredibly patient with us as we got used to the Segways, and she shared fun and memorable historical facts along the way. I can’t recommend this experience highly enough!”

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Historical Tours, Tapas Tours, Tour Reviews, Tours, Wine Tours

Madrid Tapas, Wine and History Tour

9.Madrid Tapas, Wine and History Tour

★★★★★★★★★★5.0 · 283 reviews · 3 hours (approx.) · from $83

Explore Madrid through four historic taverns, Spanish tapas, vermouth, wine, and stories on this small-group food tour.

“It was great! The history, food, and drinks! Highly recommend! She was a great guide and very knowledgeable!”

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Guided, Historical Tours, Tour Reviews

Historic Madrid Virtual Reality Experience with an Official Guide

10.Historic Madrid Virtual Reality Experience with an Official Guide

★★★★★★★★★★5.0 · 214 reviews · 1 hour 45 minutes (approx.) · from $21

Walk through Madrid’s grand squares with an official English-speaking guide and see their past recreated in virtual reality.

“Nice tour and our guide was great. Not to hard walking mostly flat. Easy to get around and see all the sights.”

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Guided, Historical Tours, Private, Toledo Day Trips, Tour Reviews, Tours

Toledo Jewish Heritage Private Tour with expert local guide

11.Toledo Jewish Heritage Private Tour with expert local guide

★★★★★★★★★★5.0 · 210 reviews · 3 to 8 hours (approx.) · from $151

Explore Toledo’s Jewish quarter, ancient ritual baths, and two historic synagogues with a private local guide, with Madrid transfers optional.

“Javi was incredible. Any question I asked he turned (even if I felt it was not the best…i.e. what was the Spanish Inquisition) into a fantastic response. He tied in his own family history with the Spanish Civil War. We talked about politics, Spain, and of course Jewish history in Spain. He showed us an underwater cistern only he could open up. The synagogues made me feel closer to my routes. I wish Javi could have spent the whole day with us!”

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Historic Center Tours, Historical Tours, Tour Reviews, Tours, Walking Tours

Madrid Historical Centre & Old Town Walking Tour in French

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

★★★★★★★★★★4.8 · 129 reviews · from $33

Explore Madrid’s old town in French on a 2.5-hour small-group walk covering Plaza Mayor, the Royal Palace, and medieval streets.

“Brilliant tour by our very animated guide Abdul. Fantastic English. Very clear and easy to understand as well as being extremely entertaining. Highly recommended.”

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Churros and Chocolate, Dessert Tours, Historical Tours, Tapas Tours, Tour Reviews, Tours

Tapas and history tour ending with churros with chocolate

13.Tapas and history tour ending with churros with chocolate

★★★★★★★★★★5.0 · 119 reviews · 3 hours (approx.) · from $102

Madrid tapas and history tour with Carmen Renedo, four food stops, local drinks, Old Madrid sights, and churros with chocolate.

“She was in such a hurry to get it done! It was no fun. Very little history and the tapas were good but talk was awkward”

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Historical Tours, Lunch Experiences, Tapas Tours, Tour Reviews, Tours, Wine Tours

Madrid Local’s Wine and Tapas Lunch Tour with a side of History

14.Madrid Local’s Wine and Tapas Lunch Tour with a side of History

★★★★★★★★★★5.0 · 101 reviews · 3 hours (approx.) · from $108

Taste Rioja, tapas, and Madrid history on a small-group walk through La Latina, with local food tips and stops at classic taverns.

“It was a fun tour with a knowledgeable guide who spoke perfect and perfectly understandable English (no accent). It is a lot of standing. It would be better for older clients if the guide found a place for us to sit while he told us the fascinating history.”

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Food, Food & Drink, Historic Center Tours, Historical Tours, Private, Tour Reviews, Tours

Private: Madrid Historic Centre Food Tour with 10+ Authentic

15.Private: Madrid Historic Centre Food Tour with 10+ Authentic

★★★★★★★★★★5.0 · 97 reviews · 3 hours (approx.) · from $405

Taste Madrid through ham, manchego, tapas, vermouth, and churros on a private evening walk through the city center.

“Jorge was great, he was extremely informative and accommodating. There is a lot of information, it is probably better to schedule this tour early on in your trip as you get information about where to go and what to do in Madrid.”

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