Hola! Ready to embark on a Free Self Guided Walking Tour in Madrid? From Plaza Mayor to the Prado Museum, this DIY Walking Tour of Madrid highlights the best things to see. You’ll easily navigate your way through lush parks and ornate squares, passing famous sights and some exquisite Madrid architecture along the route.
Our site utilizes Affiliate Links. If you use them to make a purchase, we may earn a commission. For more information, read our Disclosure Policy.
Madrid Free Walking Tour: Best Sights of Madrid, Spain
On our first two visits to Madrid, Spain, we were on quick, 24-hour layovers. Both times, we dashed to see the sights of Madrid as quickly as we could. Our sightseeing was done haphazardly – and it was more of a sprint than a Madrid Walking Tour.
Each time we returned to the Spanish capital for longer stays over the years, we were anxious to truly experience 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 provides the perfect introduction to the city. To help others find their way to all the prime sights, we are sharing our Madrid tour for free!
Self-Guided Free Walking Tour Madrid
Our self-guided, free walking tour of Madrid is perfect for those who like to explore at their own pace. Budget travelers and independent travelers will find our free tour of Madrid particularly helpful.
How To Use This Madrid Walking Tour Free Guide
We’ve outlined the top sights to see – including beautiful plazas, decorative churches, food markets and famous museums.
For step-by-step directions, use our Walking Tour Madrid Map and provided links to directions. Additionally, we provide pertinent Madrid sightseeing advice and tips that will help you plan your perfect vacation to Spain!
1 Day in Madrid Sightseeing
Our walking tour of Madrid Old Town is about 3 miles long. For ambitious travelers it can be completed in about 2 hours, but that only includes walking the route.
We believe the best way to enjoy this Madrid Self Guided Walking Tour is to make stops along the way – both for entering sites and tasting the local fare. In fact, visitors can plan a full day of sightseeing in Madrid, Spain by using our walk as an outlined itinerary.
The top sights in Madrid to visit on the route are the Mercado de San Miguel, Almudena Cathedral, Royal Palace and Prado Museum. We also include famous Madrid food recommendations to keep you satiated!
Whether you are spending a day – or one week in Madrid -you can use our Free Walking Tour to start your exploration!
Pin, Bookmark or Save our Walking Tour of Madrid for your trip to Spain!
Walking Tour Madrid, Spain
Are you excited to start our Madrid Free Walking Tour? Before heading off, fuel up with favorite Madrileno fare – either pastries, jamon or a squid sandwich.
Pasteleria La Mallorquina (established in 1894) is a traditional bakery that is known for their Chocolate and Cream Neapolitans. For something savory, however, get a meaty sandwich from Museo del Jamon or a bocadillo de calamares from Bar La Campana.
Now, lace up your shoes, load this Map on your phone for our Madrid Walking Directions and vamos!
#1 Puerta del Sol
MAP. Start your self-guided city tour of Madrid in the bustling Puerta del Sol, a hub of activity and must-see tourist destination. Puerta del Sol dates to the 15th century when Madrid was encircled by protective walls. The name translates to ‘Gate of the Sun’ – as structures featuring the sun used to stand on the site.
The square is known as the center of Spain, marking the 0 km point for six major roads in the country. The exact spot is designated with a plaque in front of the Madrid Old Post Office. The historic Post Office building dates to 1766 and now serves as the office for the President of the Municipality of Madrid.
Sol is also home to numerous iconic landmarks, such as the soaring clock tower, which is the center point of Madrid’s New Year Celebrations and the famous neon Tio Pepe sign. Several monuments dot the area, but the most popular is the ‘Oso y el Modrono’ statue located on the east end of the square. It depicts a bear climbing a strawberry tree, which is an emblem of Madrid.
A nearby site that soccer/football fans will want to make time for in their Madrid sightseeing adventures is the Legends: Home of Football Museum. A massive, interactive space featuring immersive experiences, the museum is located on the southeast corner of Puerta del Sol.
#2 Plaza Mayor
MAP. Our second stop while sightseeing Madrid is Plaza Mayor. The vibrant square is the most beautiful in the city. It is enclosed by a three-story building featuring picturesque iron gated balconies; 237 of them, actually! The perimeter of Plaza Mayor is lined with restaurants and cafes, each with outdoor seating, preset menus and prices to match. 
The history of Plaza Mayor can be traced to the 15th century when it was utilized as the city’s marketplace. Today, the square still hosts markets – including a Sunday morning antique market and the famous annual holiday market, which is a highlight of Madrid Christmas Festivities.
An equestrian statue featuring King Philip III, an early 17th century Spanish sovereign, stands at the center of the square – as it has since 1848.
#3 Mercado de San Miguel
MAP. Stop #3 on our self guided tour is the modern, upscale marketplace, Mercado de San Miguel. Featuring fresh produce, meat and fish and tasty prepared delicacies, the market is the pinnacle of Madrid gastronomy. 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 tempting to pass by (like the goat cheese and sauteed onion tapas), stay for a bite before continuing your Madrid tour. In fact, if you are ready for lunch, this is the perfect place!
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. We highlight more guided tours of Madrid at the end of the article.
#4 Plaza de La Villa, Madrid Old Town Hall
MAP. Continue your self-guided walking tour of Madrid to Plaza de la Villa – an area that is steeped in Spanish history. The quaint square features the 17th century Town Hall building, called Casa de la Villa de Madrid. It occupies an entire side of the square and is fronted by a pretty, fenced garden. Opposite Casa de la Villa is Casa de Los Lujanes, which has a short tower that dates to the 15th century – and ranks as the oldest civil building in Madrid.
#5 Almudena Cathedral of Madrid
MAP. Next up on your Madrid city walk is the massive, but relatively modern, Almudena Cathedral. Equally impressive as it’s size is that it took 100 years to build. It was only completed in 1993 and consecrated by the late Pope John Paul II that same year.
Officially called the Cathedral of Saint Mary the Royal of the Almudena, the church was built in the Gothic Revival style and is topped with a dome that measures 65-feet across. Inside, however, the Madrid Cathedral is a trove of ancient and contemporary artworks – including bright stained-glass windows and an intricate, mosaic ceiling.
Visitors can also access the crypt beneath the cathedral. The columned catacomb features numerous altars and tombs of notable Spaniards, including royalty. The cathedral and crypt are open to visitors for free, but a donation is requested at the entry.
Pro Tip: It is believed that the cathedral in Madrid was built on the site of an ancient mosque. On the south side of the church, Parque del Emir Mohamed I showcases remnants of 9th century fortifications, called the Muslim Walls.
#6 Madrid Royal Palace
MAP. Sitting next door to the cathedral is the grand Royal Palace , which seems to go on forever and is one of the top Madrid landmarks. It is the largest palace in Europe with 3,418 rooms and almost 1.5 million square feet of space. The history of the palace can be traced to the year 860. It was originally a fortress built by the Moors and called the Royal Alcazar of Madrid. In 1734 the Alcazar burnt to the ground and a Baroque palace was built in its place.
Since then, the palace has been expanded and renovated into the colossal royal residence that stands today. It’s interesting to note, that while it is the official home of the Spanish Royal Family, they don’t actually live there, opting instead to reside at the rural Palace of Zarzuela.
The interior of the Royal Palace is decorated with masterpiece paintings, gorgeous tapestries, fine furniture and incredible architectural details. Now mostly used for state functions and official visits, tourists can enter the palace (with a ticket) to see the rooms and artworks.
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 Madrid Palace Gardens
The palace grounds encompass two gardens – Sabatini Gardens to the north and Campo del Moro Gardens to the west. On sunny days, both gardens are fabulous to wander, not only for the solitude, but for the lovely views.
Sabatini Gardens
MAP. The Sabatini Gardens are an easy escape from the sightseeing trail and free to enter. The manicured terraces and groomed walkways are laid out in a grid, pass by pleasant fountains and provide stellar views of the Royal Palace.
Campo del Moro Gardens
MAP. While we love the Sabatini Gardens, one of the best places to walk in Madrid is in the vast Campo del Moro that sits behind the Royal Palace. Designed by Philip II, the sloping green space features several decorative elements – like the Conchas Fountain and Tritons Fountain. The gardens are free to enter and they often host concerts that are free to attended as well. (Plus, they have public toilets!)
#8 Plaza de Oriente, Madrid
MAP. Plaza de Oriente, is just across the street from the palace – but we have made it a separate stop in our Walking Tour Madrid Free Guide because we think it deserves an up-close look. Designed in 1844, the space is lined with statues, trees, shrubs and a fountain in the center. The equestrian statue is of Philip IV and the others surrounding it represent the Spanish kings that were crowned at the Royal Palace.
The pretty plaza sits between the palace and Teatro Real. The ornate opera house, which is often just referred to as El Real or Opera, dates to the early 1800s and to this day is one of the premier European theaters. Those who are interested and have the time can take a tour.
Pro Tip: Walk past Teatro Real and continue down Calle del Arenal – a busy street lined with cafes, shops, restaurants and hotels. Pop into Torrons Vicens – a shop that specializes in Spanish turron nougat and offers free samples!
#9 Chocolateria San Gines
MAP. Indulgent and divine, eating churros with chocolate is a must for visitors – and San Gines Chocolateria is the most famous churreria in Madrid. Established in 1894, San Gines has welcomes locals, tourists and celebrities.
The crispy, deep-fried sticks are served piping hot and then dipped into thick, rich chocolate for a heavenly treat. The shop is so popular that it has expanded into nearby buildings, so the line should move swiftly.
Pro Tip: Nearby Chocolateria 1902 is also incredibly popular. The traditional family-run bakery is quite forward thinking – as they now make a selection a treats that are gluten-free, lactose-free, sugar-free and vegan.
#10 Calle de Preciados Shopping Street
MAP. A pedestrian lane, Calle de Preciados is one of the best walking streets in Madrid – which is just one reason why we include it on this self guided tour.
The other reason is that the atmospheric street is the city’s historic shopping strip. Running nearly 1000 feet from Puerta del Sol to Plaza del Callao and Gran Via, the bustling thoroughfare is lined with fashion retailers and boutique shops interspersed with cafes.
Some of the best stores on Preciados are the El Corte Ingles department store, a FNAC media store along with many recognizable international brands.
Top Tip: For those interested in learning more of the religious history of Madrid can make a detour to the Monasterio de las Descalzas Reales, which features artwork, tapestries and religious icons.
#11 Gran Via
MAP. Everyone should see the city’s most famous street, Gran Via, which is why we include it on our Madrid Self-Guided Walking Tour! Walking along the wide Gran Via just feels classy. Known for its early 1900s architecture and boasting many upscale shops, it is also referred to as Spanish Broadway for its many theaters, cinemas and exciting Madrid nightlife. Some stores even occupy former movie theaters.
In addition to the big name fashion brands, two of the best stores on Gran Via are Casa de Libro bookshop and the Official Real Madrid Football Club outlet. Walk the street from west to east and notice that the stores to the east are more elegant, as is the architecture. The most ornate building is Edificio Metropolis, which marks the east end of Via Gran.
Pro Tip: Love a good view? Gran Via is home to a few of the best spots for rooftop dining in Madrid. Top picks are Picalagartos and Ella Sky Bar.
#12 Cibeles Palace and Fountain
MAP. The striking Palacio de Cibeles was built in 1909 to house the Spanish Post Office headquarters. Today, the elaborate building is home to the Madrid City Council and the CentroCentro cultural center.
One of the best features of the Cibeles Palace is the Mirador Madrid observation deck. For a small fee, visitors can take in the expansive panoramic city views from the building’s tallest tower. The fountain that sits in the center of Plaza de Cibeles features the Roman goddess Cybele being pulled by two lions in her chariot.
Pro Tip: If time allows, walk one block east to Puerta de Alcala. The ornamental, arched gate was completed in 1778 – at a time when the Medieval walls still surrounded the Madrid city center.
#13 El Retiro Park
MAP. El Retiro is the most impressive park in Madrid, a UNESCO World Heritage site and an absolute must-see! The stunning 300-acre space was originally designated for royalty, but has been open to the public since the 18th century. The grand green space features a variety of gardens, paths, ponds and statues.
The top feature is the exquisite Palacio de Cristal de Retiro. The Glass Palace – constructed of cast-iron and glass – was built in the 1887 as a conservatory. Today, the greenhouse hosts art exhibitions from the Reina Sofia Museum.
Additionally, visitors should see the impressive statue-lined walkway Paseo de las Estatuas and the Great Pond. That said, it is lovely to just spend time wandering the paths and well worth a longer detour from our Madrid city tour.
Pro Tip: On the southwest corner of Retiro Park is the Real Jardin Botanico. Opened in 1781, the Royal Botanical Garden of Madrid features 90,000 plants, 1,500 trees and multiple greenhouses.
#14 Paseo del Prado
MAP. Perhaps the prettiest street in all of Madrid, Paseo del Prado is a lush, tree-lined boulevard that connects Plaza de Cibeles in the north to Plaza del Emperador Carlos V in the south. It’s a place where couples stroll, artists paint and kids play.
The gorgeous promenade features museums, monuments and fountains. The world-famous Prado Museum (which is next on our Self Guided Walk of Madrid), Thyssen-Bornemisza Museum, the Naval Museum and the CaixaForum Arts Center all reside along Paseo del Prado.
Not to be missed is the extravagant Neoclassical Neptune Fountain. But smaller fountains – like the Apollo Fountain and the Fuentes de las Cuatro Estaciones – are also worth seeking out.
#15 The Prado Museum
MAP. The next stop is one of the best museums in Madrid: The Prado. Founded in 1819, Prado Museum features a grand collection of renowned artwork. The most notable are Las Meninas and The Triumph of Bacchus 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 and we recommend purchasing a Skip-the-Line Ticket. However, some of the money-saving Madrid sightseeing cards might 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.
#16 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 in Madrid. Santa Ana Plaza is home to the 17th century Teatro Espanol, the oldest theater in Madrid. Yet the area has a quaint, neighborhood feel to it. In the winter, an illuminated Christmas tree casts a blue hue over the square at night.
As this completes our Walking Tour of Madrid, give your feet a rest and enjoy a glass of Spanish wine at one of the cafes on the plaza. We recommend taking a seat at Cerveceria Alemana, which opened in 1904 as a brewery and has been frequented by famous personalities, like Ava Gardner and Earnest Hemingway.
Pro Tip: If you’re ready for dinner, continue another block to Matador for tapas or Pez Tortilla for a delicious Spanish-style omelet.
Madrid City Tour Map & Walking Directions
Use our Map of Madrid City Center to route your way to the attractions highlighted on our Walking Tour.
- This Map gives directions for the Madrid Sights numbered 1 to 10.
- This Map provides step-by-step directions for attractions numbered 10 to 16.
- This Interactive Madrid Tourist Map highlights each attraction listed in our walking tour. Simply click on any of the markers to expand the side bar for more information.
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.
Madrid Tour: What You Will Need
Before you set off on your trip to Madrid, make sure you are properly packed! We have a few tips for things you will want to bring – and get your Free Packing Checklist to make sure you have everything in your suitcase or backpack for your Spain Vacation!
Walking Shoes for Madrid
Madrid is a walkable city, but only with the right travel shoes! I like these by Columbia – Kris prefers Merrell trail shoes for all types of walks.
Travel Camera for Madrid Photography
Madrid is a truly beautiful city. Rather than using your phone to capture the sights, we recommend upgrading to a real travel camera. We use a DSLR Canon Rebel, which takes amazing photos and comes with a complete kit. For this, we rank it as one of the Best Budget Cameras.
Madrid Weather Gear and Day Pack
Summers in Madrid are very sunny and very hot. Bring sunscreen and a wide-brimmed hat on your walking tour of Madrid. We also recommend carrying this collapsible water bottle that is perfect for travelers!
Those visiting Madrid 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 and secure all your Daily Travel Essentials.
Wi-Fi and Tourist Map of Madrid
To be able to follow our Free Walking Tour Madrid (and the directions provided on the Maps), you will need an internet connection. If your phone is locked, rather than paying high daily fees for international data, we recommend investing in a Pocket WiFi Hotspot.
We travel with a GlocalMe Mobile WiFi Hotspot. It allows us to connect up to ten devices at once (which makes it ideal for families or groups traveling together) and it doubles as a portable charger. What we really love about GlocalMe is that we can pre-purchase data plans…so we can be connected from the moment we touch down off that long flight!
Those traveling without Wi-Fi can print our Map of Madrid Tourist Attractions and Walking Route. For a more detailed map, consider purchasing a Map of Madrid City Center – like this one – in advance of your trip.
Madrid Guided Tours
While we enjoyed sightseeing Madrid on our own, there are many guided tours that can help lead the way. If you would like the company of an expert guide (and fellow travelers), consider one of these highly-rated guided tours of Madrid.
- Small-group Madrid Tour and skip-the-line Palace entry – Book now
- Retiro Park and skip-the-line Prado entry – Info here
- Madrid Spanish Inquisition Tour – Book it
- Private Tours for the Best of Madrid (Book here) and Secrets of Madrid (Reserve now)
- Madrid Street Art Tour – Get Info
- Book a Guided Madrid Free Tour – New Europe Tours
As an alternative to seeing the city on foot, visitors can catch a ride on the Hop-On Hop-Off Madrid Sightseeing Bus, or explore on a Segway Tour or this very popular Madrid Bike Tour.
Money-Saving Sightseeing Cards
Some of the places we pass on our Madrid Self-Guided Walking Tour require a ticket. To save money, consider purchasing a Madrid Sightseeing Card that will that includes entry to top sights and attractions, as well as other discounts.
Madrid Sightseeing Tips
There are many, many options when it comes to visiting Madrid – as there is so much to see and do! In addition to the sights, a few of the top things to do are Flamenco dancing, tapas tastings, neighborhood wandering and sport matches.
Flamenco Show in Madrid
With live music and steamy dances, Flamenco shows are a top Madrid experience. Visitors can attend a performance at one of the legendary Spanish tablaos. Reserve your seat!
Madrid Tapas and Wine Tour
The gastronomy in Madrid is divine – especially when it comes to tapas – the much adored Spanish culinary snack. Spend an evening with a local guide on a small group tour to discover the best tapas and wine in Madrid. Join this popular tour!
Madrid Neighborhood Discoveries
Visitors can also get off the beaten path and navigate through Madrid’s best neighborhoods. We like to wander the streets of Chamberi to the north – or walk south to Parque Madrid Rio, a riverside park of wide paths, artistic bridges and inviting cafes.
Planning Your Madrid Trip
Creating an itinerary for Madrid is no simple task – but we are sharing some advice that will make it much easier! With sights located within walking distance, tourists can see a lot with just 1 Day in Madrid.
That said, we recommend spending at least two days in Madrid…but three is even better. We have outlined the top things to do in our One Week Spain Itinerary and our detailed 3-Day Madrid Itinerary.
Travelers visiting from overseas can find our best tips in our guide on How To Plan a Europe Vacation. We share all the need-to-know info and honest advice from our personal experiences.
As you begin to prepare for your trip to Spain, organization is key! Stay on top of all the details with our Printable Travel Planner.
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 advice? Head over to our Travel Planning Page for more 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? Please share with us in the comments below!
Pin it! See all of our travel pins on our JetSetting Fools Pinterest Board.
11 thoughts on “Walking Tour Madrid: Top Sights of Madrid, Spain”
Comments are closed.