10 Madrid History Tours Worth the Time

1.Madrid Tapas & Taverns Small Group Food & History Tour

★★★★★★★★★★5.0 · 2,664 reviews · 3 hours to 3 hours 30 minutes (approx.) · from $95Our pick

Review of Madrid’s tapas and taverns tour, with four food stops, local drinks, historic sights, practical tips, and honest value advice.

“Sam was a wonderful guide. This is a great way to see some sights, learn some history and try authentic Spanish food and drinks in a great tour. Only thing that was a little confusing was finding the meeting point. Devour tours should have a flag or sign the guide could hold up and take a picture of what the meeting point looks like so they could send to people to make it easier. Address pin puts you on a street in front and the meeting place is behind the building. The doors you meet at are very ornate.”

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

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

Review of Madrid’s private electric tuk-tuk tour, with landmark stops, local guides, practical tips, pricing, and who should book.

“This tour was one of the best viator experiences I’ve had to date (and I’ve booked things on here for several US cities, Scotland, France, and Ireland). The Tuk Tuk is a unique and cool way to travel and the amount of info that you learn and the things that you see along the way are both incredible. Plus there are a couple of built in stops where you can refuel or use the bathroom. My kids (11 and 8) also thoroughly enjoyed it and they can be hard to please.”

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

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

Review of Madrid’s historic tapas tour, with Iberian ham, squid sandwiches, wine, local bars, expert guides, price, and practical tips.

“Jo was a great guide! The tour was a perfect balance of city history and tasty bites at authentic/non touristy restaurants. Definitely recommend.”

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4.Madrid Historical Walking Tour

★★★★★★★★★★5.0 · 721 reviews · 2 hours 20 minutes (approx.)

Review of Madrid’s historic center walking tour, covering royal sights, local legends, price, guides, pacing, tips, and practical details.

“This is a very nice way to have an overview of the city of Madrid and hit the main and more interesting points of a highly busy touristic city without wasting too much time. Glenn was out guide he was extremely knowledgeable of the history behind all of the monuments, streets, stores, and the like. My walking tour in Porto was great, but this one really exceeded my expectations. After the tour Glenn told us we could still text him for recommendations and we did and he was quick to answer, his service overall was phenomenal. If you do this tour I really hope you get him as your guide.…”

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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, and historic center in four hours with skip-the-line entry, an English guide, and a manageable walking route.

“David was an excellent guide. He was knowledgeable, friendly, and full of great energy. He made every stop, from Prada Museum to the historic center and Royal Palace, so engaging with his stories and passion for Madrid’s history. The tour was the perfect length to see the highlights without feeling rushed. I really appreciated how David connected everything together and shared local insights you would not get on your own. Highly recommend this tour and especially David.”

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

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

Explore Madrid by night with tapas, paella, local drinks, and stories from the Arab wall to the Royal Palace in a small group.

“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!”

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

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

Explore Madrid’s Austrias quarter on a 2.5-hour walking tour covering royal squares, the palace, cathedral, and historic center.

“Marcelis was an amazing guide and I highly recommend him. He was very knowledgeable and accommodating.”

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8.Segway Private Tour in the Historic Center of Madrid

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

Review of Madrid’s private Segway tour, covering the Royal Palace, cathedral, Plaza Mayor, guides, safety, price, itinerary, and booking tips.

“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.”

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9.Madrid Historical in French (petit comité & private)

★★★★★★★★★★4.8 · 228 reviews · 2 - 2.5 hours · from $34

Explore Madrid in fluent French on a small-group tour covering Plaza Mayor, the Royal Palace, medieval streets, and La Latina.

“Visite passionnante, guide très agréable et cultivée.”

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

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

Review of Madrid’s private historic-center food tour, with 10+ tastings, local history, practical details, price advice, and booking tips.

“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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