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Immerse yourself in the vibrant culture and intriguing history of Spain’s spectacular capital on a half- or full-day tour of Madrid with an accomplished private guide. Inform your guide of your interests prior to your tour then enjoy a customized itinerary that promises to satisfy all cultural cravings. Enjoy complimentary public transport and pre-planned logistics as you discover significant sights such as the Prado Museum and the Royal Palace of Madrid whiles listening to commentary tailored to your interests.


  • Spend a day discovering the wonders of Madrid with a local private guide
  • Enjoy a flexible itinerary that is fully customized to suit your preferences and interests
  • See top Madrid attractions such as the Royal Palace of Madrid (Palacio Real) and Alcalá Gate (Puerta de Alcalá)
  • Get insider tips from your guide and discover off-the-beaten-path gems such as El Rastro market and underground concert halls
  • Enjoy a full-day of hassle-free sightseeing with all logistics prearranged and public transport costs included
  • Receive undivided attention from a private guide

What You Can Expect

Private Custom Tour: Madrid in a Day

Make the most of this customized private tour and discover Madrid's top landmarks

Experience Madrid your way with an itinerary devised to suit your every need. Discuss the sights you wish to see with your guide prior to your tour then simply look forward to discovering Madrid according to a personalized itinerary. 
On the day of your tour, greet your guide at a convenient pre-arranged location and set out to see the legendary landmarks scattered around Spain’s capital city. Public transportation costs are included in the tour, however meals, entrance fees and private transportation are not. 
Venture to legendary landmarks such as the Royal Palace of Madrid to admire the imperial majesty of the structure; discover secluded secrets such as El Rastro, the city’s oldest flea market; and marvel at the neoclassical splendor of Acalá Gate, an ancient gateway. 
See the Itinerary below for a sample full-day tour. 


Customer Reviews

Robert B G

5 star rating: Highly Recommended January 2017

David was terrific. He was energetic, responsive to our questions and very knowledgeable. It was great that we were able to see the Royal Palace, the Prado Museum and many other sites during the day. We thoroughly enjoyed the entire day with him. The tour was pricy -- the only negative.

Darren S

5 star rating: Highly Recommended November 2016

Our tour guide was amazing! He was well versed in the history, culture and diversity of Madrid. We highly recommend this tour!

Carolyn J

5 star rating: Highly Recommended September 2016

What a great day! Walked for 6 or so hours with time off for coffee, wine and a fabulous seafood lunch. Time flew and I can't believed I walked for so long! Didn't even notice! Enrique my guide was very knowledgeable and entertaining. Very educational tour of all major monuments and to many spots of the beaten track that were priceless! Very happy with the professionalism of Discovery Walks. They were in constant touch with me via email. Would happily recommend a private day tour with this company.

Michael O

5 star rating: Highly Recommended July 2016

David from City Guide did a wonderful job of sharing his love for Madrid with us. He planned our route to see all the highlights of Madrid and shared with us both things that only the locals know as well as all the tourist must sees.

kelli560 United States of ... 

5 star rating: Highly Recommended July 2016

Our guide Luis David was awesome. It was like touring the city with a local friend. He even circled some spots on a map for us to visit later and gave us some restaurant suggestions.
This is the 2nd tour we've done with Discovery Walks, and both have been great. You answer some questions for them that helps them customize the tour for you.

Nancy A

5 star rating: Highly Recommended September 2015

David was absolutely the bomb!! We enjoyed his tour and his enthusiasm was contageous. We are already planning another trip next year. Hope to see David again as a tour guide.

William N

5 star rating: Highly Recommended June 2015

This tour was amazing!

Jean F

5 star rating: Highly Recommended June 2015

Our tour guide Enrique was the perfect guide for us. He looked at our profile and asked questions. My husband is in the food and entertainment business and he got us into some kitchens to see the ovens and set up. Worth every penny - would do it again in a heart beat! Fantastic blend of what we should see and what we wanted to see!

Wendy O

5 star rating: Highly Recommended April 2015

Great Tour!

Audrey L

5 star rating: Highly Recommended March 2015

Had a great time, got to see some great parts of the city, learned a lot about Madrid. Aurora was a great guide, listened to our interests, and tailored the tour to just the things we would enjoy seeing. Would even do it again the next time we're there.

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