Historical Tours

Best 30 Historical Tours in Madrid , Spain


Featured Madrid Attractions
Madrid

Royal Palace of Madrid (Palacio Real de Madrid)

Calle de Bailén

★★★★☆4.6 (37,385)
Madrid

Prado Museum (Museo del Prado)

Calle Ruiz de Alarcón 23

★★★★☆4.6 (19,371)
Madrid

Santiago Bernabéu Stadium (Estadio Santiago Bernabéu)

Avenida de Concha Espina 1

★★★★☆4.2 (2,459)

Featured Madrid Tours
Prado Museum Small Group Tour with Skip the Line Ticket Free Cancellation
Madrid

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 (…

🕐 1 hour and a half ★★★★☆4.9 (1,808)
Madrid Tapas & Taverns Small Group Food & History Tour Free Cancellation
Madrid

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 his…

★★★★☆4.9 (2,990)
Toledo Tour from Madrid: Cathedral, Synagogue & St. Tome's Church Free Cancellation
Madrid

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 discov…

🕐 8 hours ★★★★☆4.8 (7,257)
Toledo, Segovia and Avila from Madrid with Tickets and Lunch Free Cancellation
Madrid

Toledo, Segovia and Avila from Madrid with Tickets and Lunch

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, a…

🕐 13 hours ★★★★☆4.8 (418)
Toledo Private Tour with Licensed Guide and Driver from Madrid Free Cancellation
Madrid

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 de…

★★★★☆5.0 (660)
Madrid 2.5 Hour Historical Tour by Bike or E Bike Free Cancellation
Madrid

Madrid 2.5 Hour Historical Tour by Bike or E Bike

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 immers…

🕐 2 hours and a half ★★★★☆4.8 (30)
Madrid: Guided Tour of the Royal Palace of Madrid with Ticket Free Cancellation
Madrid

Madrid: Guided Tour of the Royal Palace of Madrid with Ticket

Visiting the Royal Palace of Madrid is always special, but to do it with us is to enjoy it in a different way, because our guides turn each room into a time trip full of stories, anecdotes and curiosities that make the v…

🕐 1 hour and a half ★★★★☆4.7 (30)
Escorial Monastery and the Valley of the Fallen Tour from Madrid Free Cancellation
Madrid

Escorial Monastery and the Valley of the Fallen Tour from Madrid

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 d…

🕐 5 hours ★★★★☆4.8 (2,691)
Big Bus Madrid Hop on Hop off Tour Free Cancellation
Madrid

Big Bus Madrid Hop on Hop off Tour

Discover the exciting and vibrant city of Madrid on-board a Hop on Hop off 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 landm…

🕐 1 hour and a half ★★★☆☆3.8 (291)
Toledo Private Tour with Licensed Local Guide Free Cancellation
Toledo

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 i…

★★★★☆5.0 (917)
Madrid Tapas, Wine and History Tour Free Cancellation
Madrid

Madrid Tapas, Wine and History Tour

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

🕐 3 hours ★★★★☆5.0 (408)
Travel through Segovia and Avila in a Small Group from Madrid Free Cancellation
Madrid

Travel through Segovia and Avila in a Small Group from Madrid

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, a…

🕐 11 hours ★★★★☆4.5 (50)
Prado Museum Before Opening Tour VIP Small Group Free Cancellation
Madrid

Prado Museum Before Opening Tour VIP Small Group

Escape the crowds on this exclusive tour of the Prado before official opening hours. Enter the museum one hour before opening with just your group and an art historian guide. See Las Meninas, The Garden of Earthly Deligh…

🕐 1 hour and a half ★★★★☆4.9 (157)
Madrid Royal Palace and Prado Museum Private Tour with Transfers Free Cancellation
Madrid

Madrid Royal Palace and Prado Museum Private Tour with Transfers

An exclusive 4-hour private tour to discover the Royal Palace and the famous Prado Museum. Take advantage of a morning to immerse yourself in Spanish culture with this exclusive private tour.…

🕐 4 hours ★★★★☆4.9 (188)
Private VIP tour Royal Palace and city tour. All of Madrid in one day Free Cancellation
Madrid

Private VIP tour Royal Palace and city tour. All of Madrid in one day

Get to know all of Madrid in one day through this VIP and private tour of all the most relevant monuments of the city. Totally exclusive. Discover with the best Official Guides of the city of Madrid, the treasures and se…

🕐 3 hours ★★★★☆4.9 (60)
Madrid: 3 hour Guided Highlights Bike Tour with Optional Tapas Free Cancellation
Madrid

Madrid: 3 hour Guided Highlights Bike Tour with Optional Tapas

This tour is ideal for everyone who wants to get to know Madrid in a short time but in a relaxed way. In about 3 hours and 12 km biking, you will more or less see and hear everything of the old center while riding a very…

🕐 3 hours ★★★★☆5.0 (466)
Half Day tour to Toledo from Madrid optional Santo Tome Church Free Cancellation
Madrid

Half Day tour to Toledo from Madrid optional Santo Tome Church

Explore Toledo, renowned as the city of three cultures (Christian, Jewish and Arab), on a half-day tour from Madrid. The tour encompasses must-see sites like the Toledo Cathedral (guided entry to the cathedral is not inc…

🕐 6 hours ★★★★☆4.5 (330)
Madrid to Toledo & Don Quixote Windmills small-group Experience Free Cancellation
Madrid

Madrid to Toledo & Don Quixote Windmills small-group Experience

Experience the charm of Toledo on a small-group semi-private day trip aboard a comfortable SUV or Van ( 6 to 8 clients top). Discover one of Spain’s most historic cities through an accompanied walk filled with medieval l…

🕐 9 hours ★★★★☆5.0 (37)
Medieval Small Group Segovia and Toledo Trip from Madrid Free Cancellation
Madrid

Medieval Small Group Segovia and Toledo Trip from Madrid

Imagine a day traveling with a small maximum group of 8 travelers, sharing smiles, without hurry, as if they were lifelong friends, discovering two unique gems of Spain: Segovia and Toledo. In Segovia, we will be greete…

🕐 10 hours ★★★★☆4.5 (61)
Madrid to Avila & Segovia: Full-Day Highlights Tour Free Cancellation
Madrid

Madrid to Avila & Segovia: Full-Day Highlights Tour

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 th…

🕐 9 hours ★★★★☆4.6 (684)
Avila and Salamanca : Magic and Small Group History from Madrid Free Cancellation
Madrid

Avila and Salamanca : Magic and Small Group History from Madrid

It’s not just any tour, it’s an experience designed for you. No crowded buses or following a cold audio guide. Here we will be maximum 8 people, sharing the trip as if we were old friends, with time to enjoy, ask and liv…

🕐 10 hours ★★★★☆4.5 (59)
"Madrid: Panoramic views in Tuk Tuk with pickup available" Save 10% Free Cancellation
Madrid

"Madrid: Panoramic views in Tuk Tuk with pickup available"

Discover Madrid in a unique and exciting way with our tuktuks! If you are looking for an original and fun way to explore the vibrant capital of Spain, our tuktuk service is the perfect choice. Whether you want to enjo…

★★★★★5.0 (25)
Madrid Reina Sofia Museum with Entry Ticket with Audio Guide Skip The Line
Madrid

Madrid Reina Sofia Museum with Entry Ticket with Audio Guide

Explore one of Spain's most iconic museums dedicated to 20th-century Spanish art with entry ticket. The Reina Sofia Museum is a treasure trove of modern and contemporary art and boasts an extensive collection of over 20,…

★★★★☆4.0 (2)
Royal Palace Madrid Small Group Tour with Skip the Line Ticket Free Cancellation
Madrid

Royal Palace Madrid Small Group Tour with Skip the Line Ticket

Inside the Palace you will see the main structure of the Spanish Monarchy through the centuries. Flamboyant clocks, unbelievable decoration, the most subtlest kind of art and, maybe most important, the Spanish History si…

🕐 1 hour and a half ★★★★☆4.9 (223)
El Escorial and Valley of the Fallen Half Day Trip from Madrid Free Cancellation
Madrid

El Escorial and Valley of the Fallen Half Day Trip from Madrid

Discover two of Spain’s most iconic landmarks on this El Escorial and Valley of the Fallen half-day tour from Madrid, combining royal history, monumental architecture, and scenic landscapes in one seamless experience. T…

🕐 5 hours and a half ★★★★☆4.4 (31)
Toledo and Segovia Private Tour - OPTIONAL Typical Segovian Lunch Free Cancellation
Madrid

Toledo and Segovia Private Tour - OPTIONAL Typical Segovian Lunch

Fully customizable private tour from Madrid in private vehicle with the services of an offical tour guide in English. We offer private pickup from Madrid centre or airport and then drive you first to Toledo; the old capi…

🕐 10 hours ★★★★☆4.9 (57)
Tour of the Don Quixote Windmills of La Mancha and Toledo with Lunch Free Cancellation
Madrid

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

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…

🕐 9 hours ★★★★☆4.9 (223)
Toledo Day Trip with Cathedral from Madrid Free Cancellation
Madrid

Toledo Day Trip with Cathedral from Madrid

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…

🕐 8 hours ★★★★☆4.8 (380)
Madrid Royal Palace and Almudena Cathedral Guided Tour Free Cancellation
Madrid

Madrid Royal Palace and Almudena Cathedral Guided Tour

On this tour you will enjoy two of the two most important monuments in Madrid. Royal Palace and Almudena Cathedral.…

🕐 2 hours and a half ★★★☆☆3.9 (67)
Three World Heritages Sites - Toledo, Segovia and Ávila Private Tour from Madrid Free Cancellation
Madrid

Three World Heritages Sites - Toledo, Segovia and Ávila Private Tour from Madrid

Get the most of your time in Madrid and visit three popular spots in a day. We will take you to the World Heritages sites of Toledo, Segovia and Avila in a single day. These three places offer a great insight in the medi…

🕐 10 hours ★★★★★5.0 (22)
Madrid Royal Palace Tour - Semi private Free Cancellation
Madrid

Madrid Royal Palace Tour - Semi private

Join this tour to make the most of your visit. First of all, you will skip the main line and save time entering through the groups exclusive access, and secondly, being part of our reduced or private groups will allow yo…

🕐 1 hour and a half ★★★★☆4.9 (37)
Full-Day Madrid Tour Free Cancellation
Madrid

Full-Day Madrid Tour

Discover the best of Madrid in one incredible full-day tour, blending history, art, gastronomy, and entertainment for an unforgettable experience. Start your journey at Puerta del Sol with a traditional Spanish breakfas…

🕐 9 hours ★★★★★5.0 (6)
Madrid

Timed Entry Tickets to Prado Museum in Madrid

Immerse yourself in the world of art at the renowned Prado Museum in Madrid, one of the most visited museums globally. With these timed entry tickets, enjoy a hassle-free visit to the museum, exploring an extensive colle…

★★★☆☆3.5 (25)
Private tour in Palacio Real of Madrid Free Cancellation
Madrid

Private tour in Palacio Real of Madrid

Visit the largest Royal Palace of Europe in a three hour tour which will allow you to see it in a relaxed manner, understanding its history and also surroundings. The guide will pick you up from your hotel and will accom…

🕐 2 hours and a half ★★★★☆4.9 (29)
Madrid: VIP PRIVATE Royal Palace and Prado Museum. Free Cancellation
Madrid

Madrid: VIP PRIVATE Royal Palace and Prado Museum.

Visit The Prado museum and the Royal Palace of Madrid with your official tour guide who's also an historian and a fine arts doctor on this private tour. You will be able to visit Madrid's Royal Palace and the rarely sho…

🕐 4 hours and a half ★★★★☆4.8 (33)
Visit Cuenca and a Vineyard in Spanish Tuscany from Madrid Free Cancellation
Madrid

Visit Cuenca and a Vineyard in Spanish Tuscany from Madrid

Live Cuenca with an open heart. More than an excursion, it is a journey for the senses: history, wine, nature and excitement in one day. In an intimate group of up to 8 people, we will move away from conventional tourism…

🕐 11 hours ★★★★☆4.7 (39)
Welcoming Tuk Tuk Tour of Madrid For up to 6 People Free Cancellation
Madrid

Welcoming Tuk Tuk Tour of Madrid For up to 6 People

Experience the heart of Madrid in a 2-hour tuk-tuk tour that takes you through charming streets like Calle Cuchilleros and La Latina. Led by knowledgeable guides, uncover the city’s secrets as you stop at iconic landmark…

🕐 2 hours ★★★★☆4.6 (5)
Segovia and Avila Guided Day Tour from Madrid Free Cancellation
Madrid

Segovia and Avila Guided Day Tour from Madrid

Unravel centuries of history visiting two of Spain’s oldest cities, where just by witnessing the majestic and well preserved Walls of Avila, and the monumental Roman Aqueduct of Segovia, will be worth the experience, and…

🕐 9 hours ★★★★☆4.1 (79)
Toledo Day Trip with Optional Attraction Tickets from Madrid Free Cancellation
Madrid

Toledo Day Trip with Optional Attraction Tickets from Madrid

Enjoy this return trip to Toledo by bus, where you will have at least five hours for a self-guided tour. On arrival in Toledo we include a short walking tour to the city center. You can choose between morning and evening…

★★★★☆4.1 (386)
Madrid Prado Museum Entry Ticket with Audio Guide Skip The Line
Madrid

Madrid Prado Museum Entry Ticket with Audio Guide

Explore one of the world's greatest art museums with your entry ticket to the Prado Museum, including access to permanent and temporary exhibitions, plus an audio guide. Wander through galleries filled with masterpieces…

★★☆☆☆2.6 (10)
Madrid Tour in Tuk Tuk Free Cancellation
Madrid

Madrid Tour in Tuk Tuk

Tuk Tuk Baloo-Go is distinguished by offering quality tours with a professional, close and well organized approach. We have an experienced team of guides and drivers who combine historical knowledge, friendly treatment a…

★★☆☆☆2.0 (2)
Full Day Private Tour: Salamanca, Avila & Segovia From Madrid Free Cancellation
Madrid

Full Day Private Tour: Salamanca, Avila & Segovia From Madrid

In this tour you will visit three world heritage cities of Castille-Leon region of Spain. Salamanca, Avila and Segovia. We pick you from your hotel and drive (2hours) you. First to Salamanca where you will enjoy a guided…

Private Tour in Toledo 8 hours with private guide and driver Free Cancellation
Madrid

Private Tour in Toledo 8 hours with private guide and driver

Visit to Toledo with an official guide and private driver, where travelers will have the opportunity to learn about the history that different cultures have left in the city of Toledo: art, traditions, gastronomy and cra…

🕐 8 hours
Reina Sofia Museum Madrid Exclusive Guided Tour Free Cancellation
Madrid

Reina Sofia Museum Madrid Exclusive Guided Tour

One of Madrid’s most popular museums, the Reina Sofia Museum houses an exquisite collection of Spanish modern and contemporary art. On this 2.5 hour private guided museum tour, your guide will lead you to the most import…

🕐 2 hours and a half ★★★★★5.0 (22)
Private Tour & Lunch Of Underground Winery & Countryside Estate Free Cancellation
Madrid

Private Tour & Lunch Of Underground Winery & Countryside Estate

Get away from the crowds! OUT-OF-THE-BEATEN PATH experience exploring two private estates in Madrid´s Wine Country. The tour is owner-run, in native level English, Spanish, or French (is not offered by any other company …

★★★★★5.0 (13)
Small Group Skip-the-Line Tour of the Prado Museum Free Cancellation
Madrid

Small Group Skip-the-Line Tour of the Prado Museum

Here you'll understand the Prado Museum masterpieces. But, above all, you will also FEEL them. Because art is, more than anything, emotion. Using the experience of the very best artists in history, you'll learn how to de…

🕐 2 hours ★★★★★5.0 (347)
3-Hour Panoramic Tour of Madrid in Mercedes Viano with Guide Free Cancellation
Madrid

3-Hour Panoramic Tour of Madrid in Mercedes Viano with Guide

You will enjoy a fantastic 3 hours tour of the city , where you will discover all the important places to make Madrid the most amazing city in the World. You will not only learn about hour history and discover the buildi…

🕐 3 hours
Madrid Best Walking Tour: Old city and Royal sites Free Cancellation
Madrid

Madrid Best Walking Tour: Old city and Royal sites

- OFFICIAL CERTIFIED LOCAL GUIDE - 100% REFUND IF NOT SATISFIED - Free for Kids under 10 -This is the most complete walking tour of its kind, including Debod Temple.…

🕐 2 hours and a half ★★★★☆4.9 (280)