Madrid is a city best explored rather than simply visited. From historic plazas and royal palaces to vibrant neighbourhoods, local markets and hidden corners, there are countless stories waiting to be discovered. Fortunately, the city offers a huge variety of tours and experiences designed to help visitors see more, learn more and make the most of their time in the Spanish capital.
Whether you prefer exploring on foot, cycling through the city’s parks, gliding past landmarks on a Segway or joining a day trip beyond Madrid, this guide highlights some of the best tour companies and experiences available. No matter your travel style, there’s a tour that’s perfect for you.
1. Best Walking Tours in Madrid
Madrid is a city best explored on foot. From free city tours and hidden historical walks to private experiences led by local experts, there’s a walking tour for every type of traveller. Here are some of our favourite options for discovering the Spanish capital one step at a time.
SANDEMANs New Europe
One of the most recognizable walking tour companies in Europe, SANDEMANs offers both free and paid tours throughout Madrid. Their tours cover everything from the city’s historic centre to food, culture and royal history, making them a great option for first-time visitors.
GuruWalk
GuruWalk is a marketplace that connects travellers with local guides offering a wide range of free walking tours. With dozens of options available, it’s a great place to find everything from classic city tours to more niche experiences focused on history, street art or local culture.
Context Travel
For travellers looking for a more in-depth experience, Context Travel offers expert-led tours focused on history, art, architecture and Spanish culture. Their tours are generally smaller, more specialized and aimed at visitors who want to go beyond the basics.
Tours By Locals
Rather than joining a large group, Tours By Locals connects visitors with private local guides who can tailor an experience to their interests. It’s a great option for families, small groups or travellers looking for a more personalized introduction to Madrid
Tour & Friends
A newer local operator, Tour & Friends combines sightseeing with a more social experience. Their walking tours focus on Madrid’s history and culture while encouraging travellers to meet other visitors along the way, making them particularly appealing for solo travellers.
2. Top Bike Tours & Rentals in Madrid
If you’d like to see more of Madrid in less time, a bike tour is hard to beat. From historic landmarks and royal palaces to sprawling parks and local neighbourhoods, these tours let you cover far more ground than you could on foot.
Trixi Madrid
City Card holders save 20% on select tours and rentals with Trixi Bike
Trixi offers guided bike tours, e-bike tours and bike rentals, making them a great choice whether you want a structured sightseeing experience or prefer to explore at your own pace. Their local guides, central location and wide range of tour options have made them one of Madrid’s most popular bike tour operators.
Madrid Bike Tours
A long-running local operator offering both classic and e-bike tours. Madrid Bike Tours routes combine Madrid’s major attractions with quieter neighbourhoods and green spaces, making them a popular option for travellers looking to cover more ground than a walking tour allows.
Baja Bikes
An international company operating in several European cities, Baja Bikes offers guided tours that cover many of Madrid’s most famous landmarks. Their tours are available in multiple languages and are designed to give visitors a broad introduction to the city.
Rent & Roll
Known primarily for bike rentals, Rent & Roll is a good option for visitors who prefer to explore independently. They also offer guided tours and have locations close to some of Madrid’s most popular cycling routes.
Wonder Tours
While they aren’t exclusively a bike tour company, Wonder Tours offers amazing e-bike experiences around Madrid’s historic centre and parks. Their tours are generally aimed at visitors looking for a fun and relaxed introduction to the city.
