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Planning a trip to Madrid and not sure where to start? Don’t worry, we’ve got you covered!
Madrid is one of those cities that instantly sweeps you up with its grand architecture, buzzing plazas, and incredible food scene. But with so much to see (and eat!), planning the perfect itinerary can feel a little overwhelming.
After visiting Madrid multiple times, we’ve designed this 3-day itinerary to help you experience the very best the city has to offer, without feeling rushed or missing the must-sees. From historic sights and hidden gems to day trips, tapas crawls, and beyond, get ready for an unforgettable few days in Spain’s vibrant capital!
Don’t Miss Out On Our Top Choice!
The tour we loved the most and suggest booking ASAP is this one!
Our personal FAVORITE thing we did in Madrid was this fun tuk tuk sightseeing tour! We learned all about the city’s history and cruised past must-see spots like the Royal Palace, Almudena Cathedral, and Cybele Palace—all without breaking a sweat!
Day 1
Breakfast – La Rollerie
Kick off your first day in Madrid with a cozy breakfast at La Rollerie, a charming café that opens at 9:00 am. Their menu is full of delicious pastries, hearty breakfast plates, and great coffee—perfect fuel for a busy day of sightseeing!
We recommend arriving as close to opening time as possible to give yourself enough time before the morning tour at 11 am (more on that below!). If you finish eating a bit early, you’re in luck—the beautiful Palace Gardens (Jardines de Sabatini) are just a 10-minute walk away and a lovely spot for a quick stroll. Plus, they’re right next to where your morning tour begins!
Morning – Welcome tour in a Tuk-Tuk
After breakfast, it’s time to dive right into exploring Madrid! We recommend booking this 2-hour Madrid Tuk Tuk tour at 11:00 am. This gives you plenty of time to enjoy breakfast, take a short stroll through the Palace Gardens if you like, and get to the meeting point relaxed and ready.
We absolutely loved this tuk tuk tour because it let us cover a ton of ground without feeling rushed or overwhelmed. It’s the perfect way to get a real feel for the city, especially if you’re short on time or just want an epic introduction. Our driver, Juan, was hilarious and full of local tips and insights—by the end, we had a whole list of places we wanted to come back to!
Along the way, you’ll cruise past highlights like the Royal Palace, Almudena Cathedral, and Cybele Palace, soaking up the beauty and energy of Madrid in the open air. Plus, since you’re in an eco-friendly tuk tuk, there’s no walking required, and you cover much more ground than traditional tours!
This tour is a fantastic first-day activity, helping you get your bearings while having a ton of fun at the same time. Trust us—you’ll finish feeling excited and ready to dive deeper into the city!
Check availability and book this top-rated tour in advance here!
Lunch – Mercado de San Miguel
After your tuk tuk adventure, it’s time to refuel—and there’s no better place than Mercado de San Miguel, just a 7-minute walk from where the tour ends. This iconic market is packed with food stalls offering everything from fresh seafood to gourmet tapas and sweet treats.
Often called a “tapas market,” it’s the perfect spot to pick and choose whatever you’re craving, whether you want a full meal or just a few small bites. Grab a plate of jamón ibérico, sample some croquetas, or sip on a glass of Rioja as you wander through the beautiful historic building. It’s casual, lively, and delicious—everything you could want for a laid-back Madrid lunch!
Afternoon – Explore downtown Madrid
After a delicious lunch, spend the afternoon exploring some of the best sights in downtown Madrid! Everything on this list is within easy walking distance, making it the perfect way to experience the city’s energy without having to rush around. From famous plazas to charming literary streets, here are a few can’t-miss stops:
Puerta del Sol
Just a 6-minute walk from Mercado de San Miguel, this bustling square is the true heart of Madrid. It’s surrounded by shops, cafes, and historic buildings—and it’s also where you’ll find the famous “Kilometer Zero” plaque that marks the center of Spain’s road network!
Chocolatería San Ginés
You can’t come to Madrid and skip Chocolatería San Ginés! Founded in 1894, this iconic café is famous for its churros con chocolate. Grab a plate of crispy, golden churros and a cup of rich, velvety chocolate for the ultimate afternoon treat.
San Fernando Fine Art Royal Academy
Art lovers should definitely pop into the Royal Academy of Fine Arts of San Fernando. It’s home to over 1,400 paintings (including works by Goya!), and offers a quieter, less-crowded art experience compared to the big museums.
Barrio de las Letras
Wander through Madrid’s famous literary quarter, once home to legends like Cervantes and Lope de Vega. You can even tour Lope de Vega’s House-Museum for free (just make sure you book ahead here!) and wander the famous “Golden Mile” of literature, where quotes from Spanish literary greats are engraved into the sidewalks.
Dinner/Evening – Wine and tapas tour
I’m sure you’ve worked up an appetite after a full day of exploring, so now it’s time to dive into one of the best parts of Spanish culture: tapas and wine! We recommend booking the 7:30 pm option for this fantastic food tour, which conveniently meets near Barrio de las Letras.
We booked this experience to avoid the typical tourist traps, and it was easily one of our favorite nights in Madrid. Our guide, Noemi, was amazing—leading us to four local tapas bars scattered around the historic Literary Quarter, an area once frequented by writers like Hemingway.
At each spot, we sampled 3–4 delicious dishes paired with local wines (plus some sherry from Spain’s famous “sherry triangle”!). There were also other drink options for those who preferred something different.
Some of our favorite dishes were the Iberian ham, chickpea stew, salted cod, and the famous blistered green peppers. Trying these green peppers was so much fun because Noemi taught us that although the peppers are mostly mild, every now and then you get a super spicy one. It was like playing roulette with our taste buds!
This tour wasn’t just a food crawl—it felt like a real glimpse into Madrid’s culture, and we left with full bellies, new friends, and a deeper love for this incredible city. Trust us: if you do one food tour in Madrid, make it this one!
Book our favorite food tour here and get FREE cancellation 24 hours before you go!
Related Read: If you enjoy this itinerary, don’t miss our full guide on how to spend three days in Porto for even more local tips, hidden gems, and can’t-miss experiences!
Day 2
Breakfast – Mimi’s Crêperie
Kick off your second day in Madrid with a cozy breakfast at Mimi’s Crêperie! This charming little spot opens at 8:30 am, and we recommend getting there right around then to snag a seat before it gets busy.
As you might guess from the name, they serve up amazing crêpes (both sweet and savory!), but if you’re not quite ready for a sugar rush first thing in the morning, they also offer a selection of other breakfast favorites.
After you’ve fueled up, you’ll want to start making your way toward the meeting point for the next tour by about 9:45 am—it’s only a 3-minute walk, so no need to rush!
Morning – Tour the old city and the Royal Palace
After breakfast, it’s time to dive deeper into Madrid’s history with this fantastic Old Town and Royal Palace tour! We recommend booking the 10:00 am option, which gives you a relaxed start and fits perfectly into the rest of the day’s plans.
This 2-hour, 10-minute walking tour visits some of the most famous spots in Madrid’s historic center, giving you more context and fun stories about places you may have already passed by. But the highlight, of course, is skip-the-line access to the Royal Palace itself! While you saw it from the outside during yesterday’s tuk tuk tour, now you’ll actually get to go inside—and trust us, it’s absolutely stunning.
Madrid’s Royal Palace is the largest in Western Europe and packed with jaw-dropping rooms, priceless artwork, and ornate architecture. Walking through the lavish halls, the grand staircase, and the royal throne room is something I’ll never forget!
Whether you’re a history buff or not, we think this tour is an absolute must-do while in Madrid. Plus, the skip-the-line access means you don’t waste precious time waiting in the crazy long entry line. That’s always a win in our book!
Check availability and book this popular tour here before spots fill up!
Why We Book Tours with Viator
Viator is a trusted online booking system for tours around the world! We almost always book our tours using Viator for a couple of reasons:
- Free cancellation on most tours – Most of the tours on Viator allow you to cancel and get a full refund up to 24 hours in advance. This is handy in case plans change, or if booking an outdoor activity, the weather forecast is looking grim.
- Reserve now and pay later – You can secure your spot on some of the most popular tours well in advance and not pay until closer to the day of the tour.
- Lowest price guarantee – If you happen to find the same tour at a lower price elsewhere, Viator will refund you the price difference.
- Pay in your chosen currency – Avoid costly international transaction fees by choosing to pay in your home currency.
- Peace of mind – When booking with tour operators you find in person on the street or in small booking offices, you are often promised one thing and given another. This online platform holds tour operators accountable with a written description of inclusions as well as the opportunity for customers to leave reviews.
Check out the Viator website here! Or, for more info, read our detailed review about Viator here.
Lunch – Restaurante Casa Suecia
Ready for a break after a busy morning exploring? Make your way to Restaurante Casa Suecia, a stylish restaurant that’s perfect for a leisurely lunch.
From the Royal Palace, just hop on the bus at Jardines de Sabatini (right nearby) and ride for 7 stops to Círculo de Bellas Artes. It’s then just a short 2-minute stroll to the restaurant.
Casa Suecia is known not only for its excellent food but also for its stunning rooftop terrace, where you can grab a drink and soak up some amazing views over Madrid. You usually don’t need a reservation for lunch, but if you want to guarantee a rooftop spot, it’s worth booking ahead!
Afternoon – Go sightseeing!
Since you would have passed by a lot of Madrid’s top landmarks during the tuk tuk tour on Day 1, this afternoon is the perfect chance to revisit any sights that caught your eye and take a closer look! Everything we suggest below is within easy walking distance, so you can wander, snap some photos, and really soak up the city at your own pace.
Cibeles Fountain
Start with the stunning Cibeles Fountain, one of Madrid’s most iconic spots—and honestly, it’s even more impressive up close! The fountain features the goddess Cybele riding a lion-drawn chariot, and it’s basically the go-to celebration spot when Real Madrid wins a big game.
Puerta de Alcalá
Next up, stroll over to Puerta de Alcalá. This massive stone gate is older than the Arc de Triomphe and just as photogenic. It’s a classic Madrid backdrop for some must-have vacation pics, and the plaza around it is gorgeous too.
Neptune Fountain
Right nearby is the Neptune Fountain, another beauty dedicated to the god of the sea. It’s a little more low-key than Cibeles but still super impressive. And as a bonus, it’s just a few steps from the Prado Museum, making it a nice little stop before heading inside.
Museo Nacional del Prado
Speaking of the Prado—you have to go! We recommend this 4:00 pm skip-the-line tour so you can hit the museum’s highlights without feeling overwhelmed. It’s about 1.5 hours long, covering masterpieces by Velázquez, Goya, and more. Plus, after the tour ends, you can stick around and explore at your own pace if you’re feeling artsy.
Dinner – Bodega de los Secretos
After an afternoon soaking up art and history, it’s time for a seriously memorable dinner—and Bodega de los Secretos is just the place! It’s only an 8-minute walk from the Prado Museum, so super easy to get to after your tour.
This beautiful underground restaurant is tucked inside an old 17th-century wine cellar, with cozy vaulted brick ceilings and a super romantic vibe. The food here is just as impressive as the setting, with a menu full of creative Mediterranean dishes and excellent local wine.
It’s definitely more of a “special night out” spot, so we recommend making a reservation if you can, especially on weekends or during peak travel months. Trust us, it’s the perfect way to cap off your second night in Madrid!
Related Read: If you enjoyed this itinerary, be sure to check out our guide on how to spend three days in Seville for even more travel inspiration!
Day 3
Breakfast – On the go!
Since today kicks off bright and early with a tour at 9 am, it’s best to keep breakfast simple. Not many cafés in Madrid open early enough for a full sit-down meal, so we recommend grabbing something quick from your hotel or a nearby bakery. A coffee and pastry to-go will do the trick and keep you energized for the morning adventure ahead!
Morning/Afternoon – Full day tour to Avila and Segovia
One of the best parts about visiting Madrid is how many incredible day trips are right at your fingertips—and this full-day tour to Ávila and Segovia is hands-down our favorite!
The tour kicks off at 9 am and takes you through the stunning Sierra de Guadarrama mountain range to Ávila, a medieval city known for its massive stone walls and centuries-old churches. After exploring landmarks like the Basilica de San Vicente and the Convent of Santa Teresa, you’ll enjoy a quick snack break before continuing on to Segovia.
Segovia completely stole our hearts with its fairy-tale vibe. The first stop is the famous Roman Aqueduct, which has been standing tall since the 1st century (seriously mind-blowing!). Then it’s on to Segovia’s breathtaking Gothic Cathedral, and finally the iconic Alcázar—a castle so magical it actually inspired Disney’s Cinderella Castle!
The tour includes transportation, entrance fees, and a fantastic local guide who brings everything to life with fascinating stories and history. It’s such a stress-free way to visit two of Spain’s most beautiful historic cities without having to deal with renting a car or logistics. Just make sure to book in advance—this popular tour does sell out!
Book this tour with more than 6,600 5-star reviews here!
Dinner – La Mi Venta
After a full day of exploring, treat yourself to a traditional Spanish dinner at La Mi Venta. This cozy, family-owned spot is known for serving up some of the best tapas and traditional dishes in Madrid. You’ll find it just a short stroll from many central hotels, making it a super convenient (and delicious) choice for your final night.
Think melt-in-your-mouth Iberian ham, local cheeses, and hearty Spanish classics, all in a warm, welcoming atmosphere. It’s the perfect low-key spot to unwind and toast to an amazing few days in Madrid!
Evening – End your day the Madrileño way
If you still have a little energy left after dinner, why not do as the locals do and enjoy one last drink? There are lots of great spots nearby, but we especially recommend Sambhad, a stylish bar just a short walk away. It’s the perfect place to raise a glass and soak up a little more of Madrid’s nightlife before calling it a night!
Related Read: Heading to San Sebastian next? Don’t miss our guide to the best things to do in San Sebastian—it’s packed with tips to help you plan an unforgettable trip!
Where to Stay in Madrid, Spain
Now that you have your Madrid itinerary sorted, you need somewhere comfortable to stay! There are tons of options in Madrid, so to help you out, I’ve listed my top three picks for each budget below:
Luxury – $$$
If you’re looking for a luxury stay, the VP Plaza España Design is my top choice! Located in the historic Gran Via neighborhood, you’re steps from all of Madrid’s top sights. The rooms are all stylish and upscale, providing every detail for a relaxed stay. You can enjoy the outdoor pool, spa, fitness center, or onsite restaurant.
Room prices start around €475 and go up, depending on your room choice. You can book this stay on Booking.com.
Mid-range – $$
Hotel Princesa Plaza Madrid offers an upscale stay at a mid-budget price. You’ll find modern rooms, some with panoramic views, an onsite gym, a pool, and a bar. It’s located in the Argüelles District, so you can easily walk to the top sights.
Superior twin rooms start at €175 and king rooms with a view start at €205. Check availability and book this stay on Booking.com.
Budget – $
Ok Hostel Madrid is definitely more than “okay” and is a perfect stay for budget-conscious travelers. You can get a dorm bed for around €20, or private rooms start at €85 per night. This hostel is very clean and modern, and has a shared kitchen and communal area. There’s also an onsite restaurant and bar, and it’s conveniently located near Plaza Mayor and Puerta del Sol.
You can book this stay here on Booking.com!
Check out all of Madrid’s hotel options here!
Renting a Car in Spain
Renting a car in Spain is the perfect way to explore beyond the cities—think small villages, coastal towns, and hidden gems impossible to reach by public transit! The roads are well-maintained, and driving here is generally pretty relaxed, making it ideal for a road trip.
We always use Discover Cars to book our rentals and can’t recommend them enough. It’s super easy to compare prices, find automatic cars (which can be tricky in Europe!), and add affordable full coverage insurance. If you want a full breakdown, check out our Discover Cars review here.
Tips for Renting a Car in Spain
- Drive on the right: Like most of Europe, you’ll be driving on the right-hand side in Spain. And make sure you stick to the speed limit, speed cameras are common here!
- Pick the right car: Some of Spain’s smaller towns and villages have narrow streets and tight parking, so I recommend going for a compact car. Also, most rentals here are manual, so if you need an automatic (like me!), be sure to filter for it on Discover Cars when booking.
- Insurance is a must: I always add full coverage insurance, whether it’s a ding in a parking lot or a chipped windshield on a rural road, having full protection gives you peace of mind. Plus, it’s super affordable with Discover Cars!
- Toll roads: Spain has both toll and toll-free roads. Toll roads are usually marked with “AP” and can be paid using cash, credit card, or electronic devices like VIA-T. Plan your route accordingly and have a payment method ready.
- Parking tips: In urban areas, parking can be challenging. Look for designated parking zones and be aware of local regulations to avoid fines. Some areas may have restricted parking zones or require a resident permit.
What You Need to Rent a Car in Spain
- A valid driver’s license from your home country.
- If you’re from outside the EU, you’ll likely need an International Driving Permit (IDP).
- A credit card in the driver’s name is typically required for the security deposit.
- Most rental companies require drivers to be at least 21 years old, with a young driver surcharge applicable for those under 25. Some companies may have higher age requirements, so make sure you double-check.
Ready to hit the road? Book your car with Discover Cars here and discover the freedom of exploring Italy on your own terms!
Don’t Forget Travel Insurance!
If you’re looking to save money on travel insurance, we currently use and recommend SafetyWing. We’ve been using their coverage since 2018 and they’ve had our backs when we needed emergency flights and got sick overseas.
SafetyWing is one of the cheapest providers out there and covers everything from medical costs to lost luggage, travel delays, and emergency flights. A huge difference we’ve found between them and other companies is that they let you take out a policy AFTER leaving your home country. We’ve also found it handy that it’s a monthly payment rather than a lump sum, and you can get a refund for unused time.
SafetyWing has helped us out in some scary situations before and their affordable coverage has given us peace of mind. You can read our honest review of SafetyWing for all the pros and cons.
Thanks for reading!
Madrid is an absolutely enchanting city, and after following this itinerary, we’re pretty sure you’ll agree! From wandering through historic streets, taking a day trip to medieval towns, and eating your weight in tapas, you can rest assured you’ve experienced the very best of Madrid in just three days.
If you found this guide helpful and are planning to explore more of Spain, be sure to check out all of our Spain travel blogs. Here are a few of our favorites to get you started:
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