Free walking tours in Madrid
Tip-based walking tours: you pay a small booking fee to reserve your place, then tip the guide at the end what you think the tour was worth.
Advertising disclosure: tour links go to Viator. If you book through one, we may earn a commission at no extra cost to you. Every tour here is rated 4.5 stars or more by travellers on Viator.
Compare at a glance
Prices run from £3 to £3 per person. Select a tour name for meeting point, stops and what's included.
| Tour | Duration | Group | From | Rating |
|---|---|---|---|---|
| Madrid Essential: Historic Center, Plaza Mayor & Royal Palace | 2.5 hours | Up to 29 | £3 | 5.0 (7,707) |
| Madrid Walking Tour from Puerta del Sol to Retiro Park | 2.4 hours | Up to 24 | £3 | 5.0 (2,881) |
| Madrid Oscuro: Torture, Ghosts, Crimes and Legends | 2.4 hours | Up to 26 | £3 | 5.0 (1,489) |
| Madrid Historical Walking Tour | 2.3 hours | Up to 25 | £3 | 4.9 (940) |
| Madrid Essential : Puerta del Sol, Plaza Mayor and Royal Palace | 2.5 hours | Up to 25 | £3 | 4.9 (615) |
Madrid Essential: Historic Center, Plaza Mayor & Royal Palace (opens Viator in a new tab)
A 2.5-hour walk through the historic centre, from the Puerta del Sol to the Plaza Mayor and the Royal Palace, taking in the side streets and details that are easy to miss. Tour details: Madrid Essential: Historic Center, Plaza Mayor & Royal Palace
Guided in English, Portuguese, Italian, French, Spanish
From £3Free cancellation
See dates & bookBooked securely on Viator
Madrid Walking Tour from Puerta del Sol to Retiro Park (opens Viator in a new tab)
A walk east from the Puerta del Sol through the elegant Bourbon-era city to the Retiro park. Tour details: Madrid Walking Tour from Puerta del Sol to Retiro Park
Guided in English, Portuguese, Italian, French, Spanish
From £3Free cancellation
See dates & bookBooked securely on Viator
Madrid Oscuro: Torture, Ghosts, Crimes and Legends (opens Viator in a new tab)
An evening walk through central Madrid's darker history: crimes, executions, legends and ghost stories told at the places they happened. Not one for young children. Tour details: Madrid Oscuro: Torture, Ghosts, Crimes and Legends
Guided in English, Spanish
From £3Free cancellation
See dates & bookBooked securely on Viator
Madrid Historical Walking Tour (opens Viator in a new tab)
Old Madrid's squares and streets, and the stories behind them, on a lively two-hour walk. Tour details: Madrid Historical Walking Tour
Guided in English, German, Russian, Portuguese, Italian, French, Spanish
From £3Free cancellation
See dates & bookBooked securely on Viator
Madrid Essential : Puerta del Sol, Plaza Mayor and Royal Palace (opens Viator in a new tab)
A walk from Puerta del Sol through Plaza Mayor to the Royal Palace. Tour details: Madrid Essential : Puerta del Sol, Plaza Mayor and Royal Palace
Guided in English, Italian, French, Spanish
From £3Free cancellation
See dates & bookBooked securely on Viator
Prices are Viator's lowest "from" price per person, converted to pounds and checked on 29 October 2026. The booking page shows the current price in your currency.
More free walking tours on GetYourGuide
GetYourGuide sells many of the same walks and some that Viator doesn't. Their list for Madrid is chosen and ranked by GetYourGuide, not by us.
Search Madrid on GetYourGuide (opens in a new tab)
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More for walkers in Madrid
- Madrid walking guide: sights, neighbourhoods, when to visit and all 31 guided walks.
- From the Royal Palace to the Prado: a free self-guided walk, 3.1 km with a map.
- Food tours in Madrid
- History walks in Madrid
- Night and ghost tours in Madrid
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