Madrid Is Just the Start: Discover Spain’s Best Day Trip Destinations

If you plan to make Madrid, Spain, your home base for your upcoming European adventure, there are a few spots you should consider that are often overlooked but worth your time.

These day trips are often rewarding as they offer everything from local culture to rich history to stunning scenery. Additionally, most of these options are within a few hours' reach from Madrid, so you can be back in your own bed... well, your hotel bed, by the end of the night.

Toledo is one of those towns that is close enough to Madrid for a quick visit but different enough to feel like you’ve stepped into another world entirely.

What makes Toledo special is its layered identity. Its history has deep influences from Christianity, Islam, and Judaism, and you still see those influences in everything from the architecture to the street names. It’s a place where a Gothic cathedral, a former mosque, and a historic synagogue all exist within walking distance of each other.

The town is compact and walkable, but the terrain is hilly and cobbled, so be sure to wear comfortable shoes for your day trip to Toledo.

Some of the top stops include the Toledo Cathedral, the Alcázar (now housing a military museum), and the house-turned-museum of El Greco. For the best view of the city, take a short ride to Mirador del Valle across the river to capture a perfect postcard shot of Toledo’s skyline.

How to Reach: Take a high-speed AVE train from Madrid’s Atocha station. Trains run frequently, and the ride takes just 30 minutes.

Segovia

Segovia is one of the most visually striking day trips you can take from Madrid. The town itself is compact, but since it is built on a hill, be ready for some light climbs as you move between viewpoints.

The first thing you’ll notice on reaching Segovia is the Roman aqueduct. It is the largest one in Spain and one of the best-preserved in Europe. It cuts through the town with massive stone arches and no mortar holding it together. It also works as a great starting point for your walk through the historic center.

From there, you can head toward the Alcázar of Segovia, a fairytale-like castle that inspired the design of Disney’s Cinderella Castle at Walt Disney World. The interiors are ornate and definitely worth checking out. If you climb up the tower here, you can also enjoy the best panoramic views of the surrounding countryside.

Segovia is also known for its local food, especially cochinillo, or roast suckling pig, which is served in many traditional taverns in the old town. The Jewish Quarter is another peaceful area to explore on foot, with narrow lanes and quiet plazas.

How to Reach: Take a high-speed AVE train from Madrid’s Chamartín station to Segovia-Guiomar (about 30 minutes), then a short bus or taxi into the town center.

Ávila

Ávila is one of the best-preserved medieval towns in Spain, making for a peaceful and history-rich day trip from Madrid.

The main reason people visit this place is to walk along its fully intact city walls, which stretch for over 2.5 kilometers and offer spectacular views of the town and surrounding plains. The old town is also fairly small and easy to explore on foot.

As you walk through the cobbled streets, you’ll see how quiet and atmospheric the place feels, especially compared to Madrid. One of the main landmarks here is the Cathedral of Ávila. Make sure you take the guided tour to fully understand the architectural details and the symbolism of different parts of the building.

Ávila is also deeply associated with Saint Teresa of Ávila. You can visit the convent where she was born and see sites connected to her life around the town. Even if you’re not familiar with her story, these sites give you a deeper sense of the town’s religious and cultural importance.

How to Reach: Take a direct train from Madrid’s Chamartín station (about 1.5 hours). Buses are also available, but slightly slower.

El Escorial

El Escorial is one of the more underrated day trips from Madrid. It’s quieter than other towns on this list, but if you enjoy history and architecture, it’s well worth the visit.

The main reason to go is to see the Monastery of San Lorenzo de El Escorial. This UNESCO World Heritage site is a massive complex that was once a royal residence, monastery, and school all in one. This monastery is not just big; it's imposing. Inside, you can tour the royal pantheon, ornate basilica, and long stone corridors filled with paintings and historical artifacts.

The surrounding town is small and peaceful, with a few cafés and local restaurants where you can take a break. If you’re in the mood for a walk, there are several easy hiking trails in the nearby hills with great views back over the town and monastery.

El Escorial feels more solemn and grand than charming, but that’s part of its appeal and a lovely change of pace from the usual tourist hotspots.

How to Reach: Take a Cercanías (local) train from Madrid’s Chamartín station to El Escorial. The journey takes about 1 hour.

Aranjuez

Aranjuez is best known for its royal palace and gardens that stretch to the river. It’s a great day trip option if you’re looking for a peaceful escape without too much uphill walking or crowds. The Royal Palace of Aranjuez is the main attraction here, and the interiors of this UNESCO World Heritage Site are grand and picture-worthy for sure.

You can walk through the rooms at your own pace and then head straight into the gardens, which are somehow even more impressive than the inside. There are wide walking paths, fountains, and shaded corners that make it perfect for a stroll.

One of the more unusual sights to see here is the Museum of Royal Barges, which showcases the elaborate boats once used by Spanish royalty to navigate the Tagus River. It’s a quick visit but adds something different to the day, and you learn a bit more about local history.

Aranjuez is not a town with a long list of things to do, but that’s what makes it an offbeat day trip option from Madrid.

How to Reach: Take a Cercanías train from Madrid’s Atocha station. The ride takes around 45 minutes.

Salamanca

Salamanca is one of the most beautiful historic towns in Spain and makes for an excellent full-day trip, provided you don’t mind the slightly longer journey from Madrid.

The old town is built from golden sandstone, so the buildings glow under the sun. There is also a strong academic vibe, thanks in part to the University of Salamanca, which dates back to the 13th century and is one of the oldest in Europe. You can visit the university buildings and try to spot the hidden frog carved into its facade. It’s a fun little tradition tied to good luck.

The New Cathedral is another highlight, featuring detailed stonework and a climbable tower that is ideal for capturing sweeping city views.

Salamanca also boasts a large, pedestrian-friendly historic center. Its central square, Plaza Mayor, is the perfect place to sit out with a coffee and people-watch, getting more out of your limited time in the city.

How to Reach: Direct trains and buses are available from Madrid. Travel time is 1.5 to 2 hours, depending on your choice.

Cuenca

Cuenca is an offbeat choice for a day trip, but it’s one of the most visually unique towns in Spain. The old town is built right on the edge of a gorge, and the views alone are worth the visit.

Its most famous feature is the Casas Colgadas, also known as cliff-hanging houses, which almost seem to defy gravity. There is even a Michelin-starred restaurant inside if you're looking for a fancy meal to add to your day. You can get a great photo of these houses from the San Pablo Bridge.

The town is small, with winding streets and scenic overlooks around every corner. If you enjoy art, stop by the Museum of Abstract Art housed inside one of the hanging houses. Not only will you love the abstract art exhibits, but you will also get the opportunity to see the insides of a hanging house.

Cuenca doesn’t get as many visitors as other towns on this list, and that’s probably why it’s still a charming town worth visiting.

How to Reach: Take a high-speed AVE train from Madrid to Cuenca Fernando Zóbel station (about 1 hour), then a short taxi or local bus into the old town.

Chinchón

Chinchón is one of the most charming small towns near Madrid. It has a rustic vibe and a perfectly preserved medieval main square. It feels like a proper countryside escape, especially on a sunny weekend.

The circular Plaza Mayor is the heart of the town and is surrounded by old wooden balconies that overlook the open square. Depending on when you visit, it might be set up for a local festival, a market, or just a quiet afternoon filled with café tables.

There isn’t a long checklist of attractions here, but you can visit the 17th-century church, climb the old clock tower, and wander through sleepy side streets.

Chinchón is also known for its anise liqueur, which you can find in local shops and cafés. This is the kind of town you visit if you are in Madrid on a long vacation and don’t mind visiting towns that aren’t heavy on sightseeing options but still come with a solid local character.

How to Reach: You can drive (about 1 hour from Madrid) or take a bus from Conde de Casal station, which takes around 1.5 hours.

Manzanares el Real

Manzanares el Real is a lesser-known escape from Madrid that combines nature, history, and wide-open spaces.

The main attraction is the Castle of Mendoza, one of the best-preserved six-story castles in the Madrid region. It’s perched at the edge of town and feels like something straight out of a movie set.

The town is situated right next to the Sierra de Guadarrama National Park, making it a great base for leisurely hikes and scenic walks through this beautiful park. You can also picnic by the nearby Santillana Reservoir.

There aren't many museums or major attractions in the area, but the mix of medieval architecture and natural beauty makes it ideal for a laid-back, outdoorsy day trip.

How to Reach: Take Bus 724 from Madrid’s Plaza de Castilla station. The journey takes about an hour.

Guadalajara

Travelers often overlook Guadalajara, but it’s a quiet and pleasant town with some beautiful civic architecture and a unique local charm. Just like Manzanares el Real, this place is also not packed with tourist attractions, but that’s also what makes it feel relaxed and authentic.

The Palacio del Infantado is the standout sight here. It is a grand 15th-century palace with a striking Gothic façade and a peaceful inner courtyard. You can also visit the Pantheon of the Duchess of Sevillano, which looks like a small cathedral and is set inside a quiet garden.

The rest of the town is easy to explore on foot, where locals mostly surround you. If you want a no-pressure day out from Madrid without big crowds or long lines, Guadalajara is a solid pick.

How to Reach: Take a Cercanías or AVE train from Madrid’s Atocha station. Travel time is around 40 minutes.

Alcalá de Henares

Alcalá de Henares is an easy and culturally rich day trip from Madrid that’s especially great if you enjoy literature or slower-paced historical towns. The town is best known as the birthplace of Miguel de Cervantes, author of Don Quixote.

The historic center is a UNESCO World Heritage Site and feels calm and walkable. The University of Alcalá, one of Spain's oldest universities, is worth visiting for its beautiful, well-maintained courtyards. You can even take tours here.

You can also visit Cervantes’ house here, which is now a museum and is a fantastic place to learn more about the life of Spain’s most famous writer.

How to Reach: Take a Cercanías train from Atocha or Chamartín stations. The journey takes around 40 minutes.