Walking Tour Madrid Self-Guided Walk to 10 Sights of Madrid by JetSettingFools.com

Walking Tour Madrid: Self-Guided Walk To 10 Sights Of Madrid

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On our first 2 visits to Madrid, Spain, we were on quick, 24-hour layovers. Both times, we dashed through the city to see the sights of Madrid as quickly as we could. Our Madrid sightseeing was done haphazardly – and it was more of a sprint than a Madrid Walking Tour. 

However, when we returned to the city for a longer stay with friends, we were anxious to show them the best sights in Madrid. We compiled a list of the Top Madrid Landmarks, grabbed a Madrid tourist map and designed a Walking Tour Madrid Route that provided the perfect introduction to the city.  

To help other travelers navigate their way to the top Madrid sights, we are sharing our Madrid tour for free!


Our Self-Guided Free Walking Tour Madrid

Our self-guided, free walking tour of Madrid is perfect for travelers who are limited on time (or funds!) and like to explore at their own pace.

Budget travelers, independent travelers and those simply short on time can use our outlined self-guided walk as a free tour Madrid. We’ve outlined 10 sights to see in Madrid – including plazas, churches, markets and museums – in the form of a Madrid Self-Guided Walking Tour. For step-by-step directions, use our Walking Tour Madrid Map and provided link to Google Maps directions.

We include the top sights in Madrid on our walk; for each sight, we include information about the point of interest, a link to Google Maps so that you can easily find your way and other pertinent details of the attraction. 

To better use this guide as a Madrid Trip Planner, we have included a link to a Madrid Walking Map at the end of the post, as well as additional Madrid sightseeing advice and tips.


1 Day In Madrid Sightseeing

Our walking tour of Madrid Old Town is 4.5km (less than 3 miles) in length and can be completed in about 1 hour. However, visitors can plan a full day of sightseeing in Madrid, Spain by entering the top attractions highlighted in our walk. The top sights in Madrid to visit (which are on our route) are the San Miguel Mercado, Almudena Cathedral, Royal Palace and Prado Museum. We include more information about visiting these sights in our walking tour.

On our most recent trip, we had 2 days in Madrid to see the city and sights. Visitors who have one day in Madrid – or one week in Madrid! – can use our walk for the best place to start city exploration. 


Madrid Tour: What You Will Need

Before you set off on your trip to Madrid, make sure you are properly packed!


Walking Shoes for Madrid

Madrid is a walkable city, but only with the right travel shoes! For our Self-Guided Madrid Walking Tour, we recommend wearing comfortable city walking shoes. I like these by Columbia – and Kris wears Merrell shoes for city walks.


Travel Camera for Madrid Photography

Madrid is a beautiful city! Rather than using your camera phone to capture the sights, we recommend upgrading to a real camera. We use a DSLR Canon Rebel, which is a great starter camera (and, even better, it comes in a complete kit!). 


Madrid Weather and Day Pack

Summers in the city are sunny and warm. Bring sunscreen and a wide-brimmed hat on your walking tour of Madrid. We also recommend carrying a refillable water bottle; this collapsible water bottle is perfect for travelers! 

Tourists visiting the city outside of the summer months should be prepared for cooler weather with a chance of rain. Pack a travel umbrella and lightweight raincoat for your trip!

You’ll also want to be sure to have a great Day Bag to carry all your daily travel essentials in!


WiFi Connection (or Paper Tourist Map of Madrid)

To be able to follow our Free Walking Tour Madrid (and the walking directions provided in the Google Maps link), you will need an internet connection. We travel with a GlocalMe Mobile WiFi Hotspot. It allows us to connect up to five devices at one time (which makes it ideal for families or groups traveling together) and it doubles as a portable charger. However, what we love about GlocalMe is that we can purchase data plans online or use a SIM card…so we can be connected from the moment we touch down!

Visitors traveling without WiFi can print our Map of Madrid Tourist Attractions and Walking Route. However, for a more detailed map, we recommend purchasing a Map of Madrid City Center – like this one! – in advance of your trip. 


Walking Tour Madrid, Spain

Ready to start your Madrid Free Walking Tour? Lace up your shoes and let’s go! Begin touring Madrid at the lively Puerta del Sol. Use this link to Google Maps for Walking Directions. 


#1 Puerta del Sol

MAP. Start your city tour Madrid in the bustling Puerta del Sol, a hub of activity in the city center. Marking the 0 km point for six roads in Spain, the square is home to the iconic clock tower – which is the centerpoint of Madrid’s New Year celebrations. The name of the square, Puerta del Sol, translates to ‘Gate of the Sun’ – as city gates featuring the sun used to stand on the site.

The square is a busy one: business men rush through, tired tourists rest and street performers – everything from people dressed up as Disney characters to Egyptian living statues – work for tips. It’s quite the spectacle. 


#2 Plaza Mayor

MAP. The second stop while city sightseeing Madrid is Plaza Mayor, a vibrant square, which is enclosed by a three-story building featuring picturesque iron gated balconies (237 of them!). The perimeter is lined with cafes, each with outdoor seating (and inflated prices – although, they are still difficult to pass by!).

Street performers roam the square finding a variety of ways to entertain the very international crowds. In the winter, Plaza Mayor is occupied by a Christmas market with decorations dangling overhead. 


#3 Mercado de San Miguel

MAP. Stop #3 on the free walking tour Madrid is the modern, upscale marketplace, Mercado de San Miguel. Featuring fresh produce, meat and fish and tasty prepared delicacies, the market is busy throughout the day.

Spend time squeezing your way through the crowds to peer into the cases of fine cheeses, divinely crafted desserts and beautifully displayed fruit. If something is too mouthwatering-good to pass by (like the goat cheese and sauteed onion creations at the tapas stall), stay for a bite before continuing your Madrid tour. 

Pro Tip: For a real taste of Madrid, consider joining a culinary tour that explores the best gastronomy of the city – and includes a stop at Mercado de San Miguel.


#4 Town Hall: Casa de la Villa, Madrid

Town Hall, Madrid, Spain

MAP. Continue your self-guided walking tour of Madrid to the Plaza de la Villa. The quaint square features the 17th century Town Hall building, which takes up an entire side of the square and is fronted by a pretty, fenced garden.


#5 Almudena Cathedral, Madrid

Almudena Cathedral

MAP. Next up on your Madrid city walk is the massive, but relatively modern, Almudena Cathedral. More impressive than the size is that it took 100 years to build – and was only just completed in 1993. The Madrid Cathedral was consecrated by Pope John Paul II. The large church is topped with a dome that measures 65-feet across. 

Pro Tip: The cathedral is open to visitors, but requires a small entry fee (6 euros). 


#6 Royal Palace and Sabatini Gardens, Madrid

MAP. Sitting next door to the cathedral is the grand Royal Palace , which is the next stop on our Walking Tour Madrid. The Royal Palace, which seems to go on forever, is one of the top Madrid landmarks. It is the largest palace in Europe with 2,800 rooms and almost 1.5 million square feet. The palace is open to visitors (for a fee).

Sabatini Gardens

The Sabatini Gardens on located on the north side of the palace and are open to the public (for free!). The meticulous gardens are an easy escape from the sightseeing trail. The gravel walkways, laid out in a grid, pass by fountains and provide stellar views of the Royal Palace.

Pro Tip: If you want to visit the palace and are trying to see Madrid in a day, be aware that there are often long lines to get inside. Be sure to purchase Skip-the-Line tickets in advance.


#7 Plaza de Oriente, Madrid

MAP. Stop #7, Plaza de Oriente, is just across the street from the palace. The square was designed in 1844 and is lined with statues, trees, shrubs and a fountain in the center. Plaza de Oriente is a great place for relaxing, people-watching and taking a quick break from walking around Madrid. 


#8 Gran Via, Madrid

Grand Via, Madrid, Spain

MAP. All Madrid walks should include the city’s most famous street, Gran Via, which is why we included it on our Madrid Self-Guided Walking Tour! Walking along the wide Gran Via just feels classy. The street is known for its early 1900s architecture and boasts many upscale shops – but it is also referred to as Spanish Broadway for its exciting Madrid nightlife.


#9 The Prado Museum and Retiro Park

MAP. The next stop is one of the best museums in Madrid: The Prado. Founded in 1819, the Prado Museum features a grand collection of renowned artwork – most notable is Las Meninas by Velazquez. Many consider the Prado to be one of the greatest art museums in the world.

There is an admission fee to enter the museum (we recommend purchasing a Skip-the-Line ticket!). However, some of the money-saving city sightseeing cards – like the iVenture Card – include entry into the Prado. Visitors short on time who want to see the museum highlights can join a Prado Museum tour.

Pro Tip: The Prado has free entry from 6-8pm Monday-Saturday and from 5-7pm on Sundays and holidays.

Retiro Park, Madrid

Behind the museum is Retiro Park – one of the best parks in Madrid! The 300-acre park was originally designated for royalty, but has been open to the public since the 18th century. The grand Retiro Park features a variety of gardens, paths, ponds and statues. In addition to the impressive statue-lined walkway and the Great Pond, it is lovely to just spend time wandering the paths (and well worth a detour from our Madrid city tour!).



#10 Plaza de Santa Ana, Madrid

Plaza de Santa Ana, Madrid

MAP. The final stop on our walking Madrid tour is Plaza de Santa Ana – a square that quickly became our favorite square in Madrid. The Santa Ana Plaze is home to the 17th century Teatro Espanol, the oldest theater in Madrid. Yet the cafe-lined square has a quaint, neighborhood feel to it. In the winter, a large illuminated Christmas tree cast a blue, wintry hue over the square at night.

This completes our Walking Tour of Madrid! Now, give your feet a rest and enjoy a glass of local wine at one of the cafes on the plaza.

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Madrid City Tour Map & Walking Directions

Use our Map of Madrid City Center to route your way to the attractions highlighted in our Walking Tour. This link to Google Maps can be used for step-by-step Walking Directions. 

Pro Tip: Our Walking Tour Madrid Attractions Map Route can be printed; click on the image to enlarge it, right-click outside of the image and select Print. 

Map of Route for Walking Tour Madrid


Interactive Madrid Walking Tour Map

This link to our interactive Tourist Map Madrid features the highlights of each attraction listed in our walking tour. Simply click on any of the markers to expand the side bar for more information. 


Our Top Tips for Your Trip To Madrid, Spain

Now that you know what sights to see in Madrid, we have a few more tips for your trip!


Madrid Guided Tours

While we enjoyed sightseeing Madrid on our own, there are many guided tours in Madrid that can help lead the way! Consider one of these highly-rated guided tours for your trip to Madrid: 

  • Small-group Madrid Tour and skip-the-line Palace entryBook now
  • Retiro Park and skip-the-line Prado entryBook now!
  • Private tours for the Best of Madrid (Book here) and Secrets of Madrid (Book here!)
  • Book a Guided Madrid Free Tour (tips expected) with New Europe Tours

As an alternative to seeing the city on foot, visitors to catch a ride on a Madrid sightseeing bus, like the Hop-On Hop-Off Bus, or explore the city on two wheels on a Segway Tour or a popular Bike Tour.


Money-Saving Sightseeing Cards

Some of the sights on our Madrid Self-Guided Walking Tour require an entry ticket. To save money, consider purchasing an iVenture Card that includes entry to top sights and attractions in Madrid, as well as other discounts. 


Madrid Sightseeing Tips

There are many options when it comes to visiting Madrid – as there is so much to see and do in the city! In addition to the sights, there is Flamenco dancingtapas tastings and soccer matches. Visitors can also get off the beaten path and navigate through the city south to Parque Rio Madrid Arganzuela, a riverside park of paths, bridges and cafes. 


Planning Your Madrid Itinerary

With sights located within easy walking distance, tourists can see a lot with just 1 day in Madrid. That said, we don’t think one day in Madrid is enough! We recommend spending at least two days in Madrid.

We have outlined the top things to do in Madrid in 2 days in our One Week Spain Itinerary. If you are wondering what to do in Madrid for 3 days, we suggest taking a day trip from Madrid (see options below!). 

Spain Itinerary Barcelona Seville Madrid by JetSettingFools.com

Madrid Day Trips and Multi-Day Tours

There are also several Madrid Day Trips to popular destinations, like to Toledo or the UNESCO Heritage City of Cuenca. The best tours can be booked in advance on Viator

Multi-Day Tours from Madrid include top Spanish cities (Barcelona, Seville and San Sebastian to name a few!). Intrepid Travel offers several tours from Madrid, including an 8-day Spain Highlights Tour and 15-day Best of Spain Tour.

Making travel plans to Barcelona? Use our detailed 3-Day Barcelona Itinerary!

Barcelona Itinerary: How To Spend 3 Days in Barcelona, Spain by JetSettingFools.com


Where To Stay In Madrid, Spain

During our visit to Madrid, we stayed in an Airbnb Apartment. We have found that staying in apartments is often less expensive than hotel rooms – with the added benefit of a kitchen and, usually, more space. 


Madrid Hotels & Hostels

However, for those who prefer staying in traditional accommodations, there are many Madrid Hotels to choose from in – or close to – the city center. Take a look at these top-rated hotels (based on guest reviews!) for your upcoming trip: Only YOU Boutique Hotel, Gran Melia Palacio de los Duques, Catalonia Las Cortes

Budget travelers can search for Madrid Hostels – like Sungate ONE, OK Hostel or Open Hostel


Getting To Madrid

Madrid can be reached by plane, train, bus or car.  We have arrived to Madrid from Lisbon and Porto by air to the Madrid Airport (MAD) – as well as by train from Sevilla and Barcelona to the Atocha Train Station. Madrid is well-connected by a public transportation system that includes the Metro, Rail and Buses, but the city is also extremely walkable. 

Our preferred method of getting anywhere is by flying (we are JetSetting Fools, after all!) and when we do need to purchase plane tickets, we start our search for the best deals on airline tickets on Skyscanner.

To get from city to city when flights are not possible, we usually rely on public transportation and take trains or buses. In Europe, we use Eurail to find train tickets and our preferred bus company is FlixBus – as it is economical, clean and comfortable with on-board wifi and usually a toilet, too. We aren’t keen on driving abroad, but renting a car can often save time and money (especially when traveling with more than two people) – and it allows for greater discovery.  


Spain Travel Insurance

We think travel insurance is essential! It can come in handy during flight delays or in the unfortunate event of lost luggage. However, it can be imperative if travelers fall ill or get injured abroad. If you haven’t already obtained travel insurance for your trip, travel protected with World Nomads.


Start planning your trip to Spain! Search for the lowest airfares, the best accommodations and fun things to do…then start packing!  Want more travel planning tips? Head over to our Travel Planning page for more information and tips on traveling – and for country-specific information, take a look at our Travel Guides page!


We want to know: What are your favorite Madrid sights? Is there anything you would add to our Self-Guided Free Madrid Walking Tour? Give us your best tips and advice in the comments below! 


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A Self-Guided Walking Tour to 10 Sights in Madrid, Spain JetSetting Fools

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12 thoughts on “Walking Tour Madrid: Self-Guided Walk To 10 Sights Of Madrid

  1. Loved all your suggestions! I would love to add that I found really good street art in Lavapies district. That’s the real Madrid!

  2. sandi

    I’m planning my first trip at the end of December as well! I was just wondering if you did this all in one day or split it between the two you were there?

    • Hi Sandi – How exciting! We did this walk in a single day. Actually, it can be done in just a couple of hours, depending on your pace and how long you stay at each site. We started in Puerta del Sol a little after breakfast. We were in the San Miguel Market for lunch and stayed there for awhile. We stopped into the church, but did not go into the palace (had we done that, our day would have been much longer). Then it was just really a nice leisurely stroll to the Prado Museum. Some people can spend an entire day in the museum, we just wanted to see the highlights. (The museum has free entry from 6pm-8pm Monday through Saturday and from 5pm-7pm on Sundays and holidays.) After the museum, we continued on to Plaza Santa Ana for dinner and drinks.
      We also really enjoyed the parks in Madrid (even in the winter!). Two are on the route (the gardens at the palace and the Reitro Park behind the Prado Museum).
      I’m not sure when the Christmas Markets start in Madrid, but when we were there, the market was set up in Plaza Mayor.
      Hope you enjoy your trip!

  3. Allison Hasserd

    Thanks for posting this! we are going to Madrid in October and this is perfect for a day of sight seeing for us!

  4. Oregon Follower!!!!!!!!!!!!!!!!!!!!!!!!!!!!

    We so enjoy your descriptions and comments!!! We are, in a small way, traveling with you!!!

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