Madrid Free Walking Tour: From Medieval to Modern

We’ll start at Plaza Mayor, Madrid's main square, where every building has a story to tell. From there, we’ll go to Puerta Cerrada (“the closed door”), a quiet corner where the medieval city walls once stood, keeping the heart of Madrid safe.

The energy shifts when we hit Cava Baja. It’s the kind of street where history feels close and where you can almost hear the hum of centuries-old taverns mixed with the clinking glasses of today’s tapas lovers. And don’t worry, you’ll get plenty of stories here (and maybe a few tips on where to eat later!).

At the Museum of San Isidro, we’ll talk about the legends and roots of Madrid itself: stories that feel like stepping into a time machine.

Then we’ll pause in the peaceful Plaza de los Carros and Plaza de la Paja, where the medieval city slows down and you can imagine kings, nobles, and merchants gathering under the same sky.

And then comes one of the people’s favorites: the Basilica of San Francisco el Grande. Its massive dome will make you stop, stare, and whisper “wow” without even realizing it. But don’t put your camera away just yet, because the views from Las Vistillas are waiting. You might forget to blink. It’s that beautiful.

Next, we’ll walk on Parque del Emir, a small but meaningful nod to Madrid’s Muslim past, and then go to Plaza de la Armería, where battles, power, and conquests echo through time. Need a breather? The Sabatini Gardens are a dreamy green escape that feels like Madrid’s way of saying, “Take a moment, you’ve earned it.”

We’ll wrap it all up at the magical Temple of Debod, a gift from Egypt that feels perfectly at home here, especially at sunset. It’s the kind of moment that stays with you, a perfect ending to this little journey back in time.

This tour isn’t about rushing or checking things off a list. It’s rather about feeling Madrid: its stories, its beauty, and the magic that lingers in its streets. But don’t wait too long! Spots fill up quickly, and you don’t want to miss out. Book your spot now, and experience Madrid in a way that you have never experienced before.

How much does this free tour cost?

This is a free tour, so you decide the price at the end, based on how much you enjoyed it. Our passionate guides love Madrid and will make sure you have a fun, memorable experience. They’re also happy to share tips and recommendations!

Most people leave an average of 12-15 euros, but it’s entirely up to you. What matters is that you enjoy the journey.

• The use of comfortable shoes and clothes is recommended. The entire tour is done on foot.

• Suitable for people with reduced mobility.

• Suitable for carrying pets.

• Groups of more than 6 people are not allowed, even if they have made separate reservations.

• At the end of the tour, participants are expected to tip according to their satisfaction with the experience.