Here’s the ultimate list of the most unique small towns near Madrid, Spain, that you simply can’t miss on any trip to the country.

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Best Small Towns near Madrid, Spain

Visiting Madrid

Madrid is one of my favorite Spanish destinations for multiple reasons – its iconic landmarks, amazing museums, numerous day trip options, cooking classes, and Christmas decorations in December. While I’ve lost count of my visits to this vibrant city, I always gravitate back to Madrid and its surroundings. After writing about a 7-day road trip around Madrid and a Madrid-to-Barcelona road trip, I often received questions about the most charming small towns near Madrid. So, I thought it would be helpful to share more details on this topic for those planning a weekend in Madrid and dreaming of experiencing regional small-town charm.

In this list, I’ll start with the well-known destinations near Madrid and then share some hidden gems. Whether you’re looking for historical charm, natural beauty, or a quiet getaway, the region surrounding Madrid is packed with charming Spanish small towns perfect for a day trip or weekend escape.

Best way to visit charming villages near Madrid

For well-known small towns near Madrid, like Toledo, Segovia, or Avila, you have plenty of travel options: by train (check tickets on Trainline), by organized tour, or by car. Traveling by bus is also an option, but it’s the most time-consuming, so I rarely recommend it, although it can be a good fit for those on a budget. My personal favorite for Madrid day trips is traveling by car, as it provides complete freedom to visit several places in one day. However, for Toledo and Cuenca, the train is a great option too, as the high-speed line gets you there twice as fast.

Best Small Towns Near Madrid You Can’t Miss

1. Toledo

Distance from Madrid: 70 km (45 miles)

Why to visit Toledo

Toledo needs no introduction. As one of Spain’s most famous historical cities, it’s located just an hour from Madrid. Known as the former capital of Spain and the “City of Three Cultures” (where Christian, Muslim, and Jewish lived in piece for centuries), Toledo is an essential stop on any Spain Bucket List. Its cathedral is often listed among the most beautiful religious sites in Spain, and the city is home to the El Greco Museum. Toledo also has its own mysterious legend, the story of the bitter well of Toledo.

I’ve visited Toledo many times, especially on road trips across Spain. It’s a great escape near Madrid, even if you’re not a first-timer in the country. Check out my 1-day Toledo Itinerary.

Best tours to Toledo

• From Madrid: Toledo with 7 Monuments and Optional Cathedral (check availability)
• From Madrid: Full-Day Guided Tour of Toledo with Cathedral Visit (check availability)
• From Madrid: Guided Day Tour of Toledo & High-Speed Train Ticket (check availability)
• From Madrid: Toledo Full Day Trip (check availability)
• From Madrid: Toledo Tour with Wine Tasting and 7 Monuments (check availability)

2. Segovia

Distance from Madrid: 90 km (56 miles)

Why to visit Segovia

Segovia, a UNESCO World Heritage site, is famous for its stunning Roman aqueduct, one of the best-preserved in the world, and the fairy-tale Alcazar castle. If exploring iconic Spanish landmarks is your plan, Segovia is a must-visit. Foodies will be happy to discover that Segovia is known for its roast suckling pig (cochinillo), a local dish worth trying. The town’s unique landscape and landmarks also make it a popular spot for hot air balloon rides.

When I first visited Segovia 10 years ago, it felt like a lesser-known town. Today, it’s one of the most popular day trips from Madrid. So, if you’re seeking quieter small towns near Madrid, Segovia might not be the best fit, but for its historical significance and experiences, it’s a city well-deserving of its fame.

Best tours to Segovia

• From Madrid: Segovia & Avila Day Trip with Optional Entry Tickets (check availability)
• From Madrid: Avila and Segovia Full-Day Tour (check availability)
• Segovia Hot Air Balloon Ride with Optional Pickup Service (check availability)
• From Madrid: Avila with Walls and Segovia with Alcazar (check availability)
• From Madrid: Segovia and La Granja Full-Day Guided Tour (check availability)

3. Avila

Distance from Madrid: 110 km (68 miles)

Why to visit Avila

Avila is one of Spain’s most impressive walled towns (alongside Morella). Its 11th-century walls stretch over 2.5 kilometers and include 88 watchtowers and 9 gates, making them some of the best-preserved in Europe. Avila may not be as popular as Segovia, but it’s gaining attention. Walking along the town walls offers breathtaking views of the region. Avila is also significant for its religious heritage, being the birthplace of Saint Teresa of Avila, a prominent 16th-century mystic. Be sure to visit the Convent of Saint Teresa, the Monastery of the Incarnation, and the Avila Cathedral.

While some tours combine Toledo, Avila and Segovia, if you get a chance – give each of these Spanish towns at least one day.

4. El Escorial

Distance from Madrid: 45 km (28 miles)

Why to visit El Escorial

El Escorial is known for the Monastery of San Lorenzo de El Escorial, a UNESCO World Heritage site that served as the residence of Spanish monarchs. The complex includes a royal palace, basilica, library, and the burial place of Spanish kings. Often, visits to El Escorial are combined with the nearby Valley of the Fallen, a controversial site which I cover in detail in my Madrid day trip guide. While El Escorial is a popular destination, it doesn’t attract quite as many visitors as Toledo or Segovia, making it a more peaceful small-town option near Madrid.

Best tours to El Escorial

• From Madrid: Escorial Monastery and the Valley of the Fallen (check availability)
• From Madrid: El Escorial and Valley’s Basilica Half Day Tour (check availability)
• From Madrid: Escorial Monastery & Valley of the Fallen Tour (check availability)
• From Madrid: Private Tour of El Escorial, Valley of the Fallen, & The City (check availability)

5. Aranjuez

Distance from Madrid: 50 km (31 miles)

What to visit Aranjuez

The Palace of Aranjuez is one of the top royal sites in Spain and was declared a UNESCO World Heritage Cultural Landscape in 2001. Although the palace was originally built in the 15th century, it flourished during the reigns of kings Carlos III and Carlos IV, when Aranjuez became a favored vacation spot for royalty. Last time I got to visit Aranjuez in autumn, during a Madrid to Valencia road trip, and it’s been one of my favorite places in Spain to enjoy the fall foliage ever since.

Best Tours to Aranjuez

• From Madrid: Aranjuez Private Tour with Royal Palace Entry (check availability)
• Private tour to Aranjuez y Toledo in the mini vans (check availability)

6. Alcala de Henares

Distance from Madrid: 35 km (22 miles)

Why to visit Alcala de Henares

Alcala de Henares is famously known as the birthplace of Miguel de Cervantes, the author of Don Quixote and one of the most famous Spaniards ever. You can visit the Cervantes Birthplace Museum, which is free to enter and showcases first editions of the famous novel amidst a traditional 16th-century Spanish home. Alcala de Henares is a popular place to start a Don Quixote road trip in Spain.

If you visit Alcala de Henares in December, you can also enjoy Torrejon de Ardoz, the Spanish Christmas Park in nearby.

Best tours to Alcala de Henares

• From Madrid: Alcalá de Henares & Cervantes Museum Day Trip (check availability)
• From Madrid: Private Day Trip to Alcalá de Henares (check availability)

7. Chinchon

Distance from Madrid: 45 km (28 miles)

Chinchon was one of the highlights of my 2022 travels in Spain. This town is best known for its Plaza Mayor, a unique medieval square with 234 wooden balconies. Chinchon’s square has been used as a filming location for iconic movies starring Rita Hayworth, Orson Welles, and John Wayne, due to its uniqueness.

8. Buitrago del Lozoya

Distance from Madrid: 75 km (47 miles)

Set along the Lozoya River, Buitrago del Lozoya is a small medieval town surrounded by the scenic mountains of the Sierra Norte. It’s perfect for history lovers, with its well-preserved medieval walls and the Castle of Buitrago. The town offers a peaceful, picturesque atmosphere and is ideal for a relaxing day trip from Madrid.

9. Siguenza

Distance from Madrid: 130 km (81 miles)

Siguenza is a lesser-known medieval town on the road from Madrid to Barcelona. The Sigüenza Cathedral is a must-stop, known for its Gothic architecture and historical significance. By and large, we spent quite a while exploring Siguenza Old town and its charming streets.

10. Guadalajara

Distance from Madrid: 60 km (37 miles)

Guadalajara may not be considered one of the most charming small towns near Madrid (in my opinion, it lacks appeal), but it’s worth a visit to see the Palace of the Infantado. This stunning Gothic-Renaissance building stands out for its unique architecture and historical significance, making it a worthwhile stop for those interested in Spanish heritage. If traveling by car, you can combine a stop in Guadalajara with Alcala de Henares.

11. Talavera de la Reina

Distance from Madrid: 120 km (75 miles)

Talavera de la Reina is a small town near Madrid, considered a must-stop for the fans of the Spanish Ceramics. Do not miss Museo Ceramico Ruiz de Luna, Basilica del Prado, Bridges of the Alameda, Prado Gardens, the Ethnographic Museum, and local ceramic shops. Also, on the official tourist website of Talavera de la Reina, you can enjoy 360-degree murals online. If you’re an art enthusiast or enjoy handmade souvenirs, this town is a must-visit.

• Talavera Ceramic Painting Private Workshop (check availability)

12. Cuenca

Distance from Madrid: 170 km (106 miles)

Why to visit Cuenca

Although not the closest, Cuenca is conveniently connected to Madrid by high-speed train. Known for the famous Hanging Houses (Casas Colgadas) and its impressive Cathedral, Cuenca is now a trendy destination. Read more about my trips to Cuenca under #CastileLaMancha hashtag.

Best tours to Cuenca

• From Madrid: Day Trip to Cuenca and The Enchanted City (check availability)
• From Madrid: Private Day Trip to Cuenca with Tour (check availability)

13. Brihuega

Distance from Madrid: 90 km (56 miles)

The village of Brihuega, near Madrid, is home to Spain’s most famous lavender fields, which bloom spectacularly in July. While the town itself is charming, I would only recommend visiting if you’re a fan of flower fields and plan to go during the lavender bloom in July. Outside of that time, you may be better off exploring other small towns from this list. Another alternative would be to combine Brihuega with Siguenza or Alcala de Henares.

14. Pedraza

Distance from Madrid: 125 km (78 miles)

Visiting the small town of Pedraza from Madrid offers a charming escape into medieval Spain, known for its well-preserved cobblestone streets, historic stone buildings, and a timeless sense of tranquility. While the exterior of Pedraza Castle is more impressive than the interior, the castle is still worth a visit if you have extra time, as it houses a museum dedicated to the painter Ignacio Zuloaga.

Read more about Madrid:

• 40+ Things to Do in Madrid: An Ultimate Guide to the Spanish Capital (read it)
• Top Outdoor & Adventurous Activities in Madrid You Can Not Miss (read it)
• Delicious Breakfast in Madrid: My Favorite Spots & Avocado Toasts (read it)
• My Amazing Spanish Cooking Class in Madrid (read it)
• Our Fun 7-day Madrid Road Trip Itinerary (read it)
• Madrid to Barcelona Road Trip: Top Stops (read it)
• 10+ Unforgettable Madrid Day Trips (read it)
• Madrid to Valencia Road Trip: Top Stops (read it)

Map of the Small Towns near Madrid

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