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Road trips in Spain

Relaxed 10-Day Spain Self-Drive Road Trip With Itinerary from Madrid to Toledo and Salamanca

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Discover stunning scenery and hidden gems on this 10-day relaxed road trip in Spain! Madrid, Toledo, Avila, Salamanca, and Segovia await with vibrant culture and lasting memories as you unwind on this self-drive vacation.

Travel freely with this relaxed self-drive package in Spain, designed for comfort and exploration. Spend 4 nights in Madrid, 3 nights in Toledo, and 2 nights in Salamanca, staying at top-rated hotels near the heart of each city. Between drives, indulge in local cuisine, sip refreshing drinks, and enjoy the vibrant atmosphere at popular restaurants and bars along your road trip route in Spain.

Your journey starts in Madrid, where your rental car with CDW insurance will be ready for pickup. Choose a vehicle that suits your style, then set off on your 10-day relaxed road trip in Spain to explore its rich culture, fascinating history, and stunning landscapes.

Every stop on this leisurely self-drive holiday comes with handpicked accommodations that make relaxation effortless. Choose from elegant 5-star hotels with breathtaking views or comfortable 3-star stays that offer excellent value, all providing a welcoming retreat after a day on the road.

With your self-drive itinerary in Spain already planned, you’ll enjoy the country’s most celebrated sights without the rush. Marvel at the stunning El Retiro Park and soak in the atmosphere of the magnificent Main Square.

Enjoy each stop as you explore the history, architecture, and character of each destination on this Spain road trip itinerary for 10 days.

As you travel between destinations, you’ll have plenty of time to explore local markets and boutique shops. These stops give you the chance to find unique souvenirs, taste regional specialties, and experience everyday life in Spain.

If you want to make your 10-day relaxed self-drive tour in Spain even more memorable, add optional tours or activities. Join a guided excursion, discover hidden neighborhoods, or spend an afternoon in your favorite market. Each choice deepens your connection to the places you visit.

Alongside these experiences, your laid-back self-drive package in Spain includes 9 nights in comfortable hotels, a rental car for 10 days, and convenient access to nearby dining options. You can also add flights and entry tickets to shape the trip exactly how you want it. With 24/7 travel support and a mobile app keeping your itinerary and documents organized, you can enjoy a relaxed drive and savor every mile of the road ahead.

Turn your travel plans into reality. Book your 10-day relaxed self-drive road trip in Spain today and enjoy a journey filled with discovery, freedom, and unforgettable moments!

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Day 1

Madrid - Arrival day
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plaza de España
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Your relaxed road trip through Spain starts when you reach the incredible city of Madrid, where you'll stay for 3 nights. You'll pick up your rental car in Madrid and begin your adventure in Spain.

Madrid is a beautiful city with plenty to discover. Taking a stroll in the city center is a great alternative. Soak in the lovely atmosphere and sit down for a bit to eat or drink.

When you're ready for some downtime, make your way to your chosen hotel. Check-in typically starts between 2 and 4 PM in Madrid. Make yourself at home and unwind before heading out again.

As dinnertime approaches, it's time to head out for a bite to eat. If you are looking to dine at a popular restaurant in Madrid, it's often a good idea to reserve a table in advance.

As the day is coming to an end, retreat to your hotel for some rest, or head out to a bar to celebrate your time in Madrid. The bars in Madrid make the perfect setting for a laid-back drink and chilled hangout with your travel companions.

Raise a toast as you look back on the highlights of today’s relaxed road trip in Spain. Enjoy your first taste of Madrid as you soak in the city’s unique vibe.

Day 2

Madrid
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Drive 15 km, 1 hour 7 min

Main Square
Market of San Miguel
Royal Palace of Madrid
Temple of Debod
Casa de Campo
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Spain makes the perfect setting for a calming but fun road trip experience. Aside from amazing sights, Spain also offers plenty of tours to enhance your relaxed road trip experience.

Mealtimes are the perfect opportunities to immerse yourself in the local culture of Spain. When you're not appreciating the best places to visit in Madrid, explore the city like a local by trying out the best restaurants in the area.

Take a stroll around the area, head back to your accommodation for the night, or continue your evening at one of the best-rated bars in the city.

Look back at an amazing day filled with adventure in Spain. And don’t forget to get some rest so you can continue your relaxed holiday in Spain tomorrow with new energy.

Day 3

Madrid
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Drive 21 km, 1 hour 15 min

Santiago Bernabéu Stadium
Las Ventas
Crystal Palace
El Retiro Park
Museo Nacional Centro de Arte Reina Sofía
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Whether you decide to get entrance tickets for all attractions or you prefer admiring from a distance, amazing experiences await on this day in Madrid.

Another way to make your easygoing and relaxed road trip in Spain more special is by joining unique tours and activities.

When you’re not driving and exploring some of the best places in Spain, it’s time to make your relaxed road trip even more comforting. Sit down for a lovely meal at one of the best restaurants in Madrid.

Before calling it a day, visit one of the best bars in Madrid. There, you can look back on the highlights of today’s pleasant and invigorating travel experiences, have friendly conversations with locals, and unwind.

Raise your glass to celebrate another day of your laid-back and relaxed road trip experience in Spain!

Day 4

Madrid
Toledo
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Drive 76 km, 1 hour 26 min

Thyssen-Bornemisza Museum
Museo del Prado
Puerta de Alcalá
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Day 4 of your relaxed road trip in Spain will take you on a self-paced journey to more than one incredible place in one day. See some of the best attractions in Spain, taste the most delectable foods and exquisite drinks, and make incredible memories as you go!

After a day of exploration, relax at one of the top hotels or accommodations in Toledo. Staying in the city gives you a comfortable, welcoming place to recharge during your laid-back road trip in Spain.

Exploring the food culture in Toledo offers you an exciting chance to connect with locals and experience diversity along your relaxed road trip. When you’re ready to eat, we recommend you visit one of the best dining spots in the city.

If you feel like it, head out to a bar to celebrate another fantastic day in Toledo and take the pulse of the city’s nightlife. Enjoy the night without rushing to fully appreciate it.

Raise your glass in celebration of your freedom and relaxed road trip adventure in Spain!

Day 5

Toledo
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Drive 2 km, 38 min

Alcantara Bridge
Army Museum
Alcázar of Toledo
Santa Iglesia Catedral Primada de Toledo
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Make the most of your time in the country by joining activities that let you discover more about Spain. Check out all of the tours you can join this day of your leisurely self-drive holiday in Spain and ensure the experience of a lifetime.

If you feel like it, head out to a bar to celebrate another fantastic day in Toledo and take the pulse of the city’s nightlife. Enjoy the night without rushing to fully appreciate it.

Savor the rest of the night and celebrate another incredible, relaxed road trip adventure in the magical Toledo!

Day 6

Toledo
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Drive 7 km, 50 min

Mirador del Valle
San Martin's Bridge
FLY TOLEDO
Monasterio de San Juan de los Reyes, Toledo
Puerta de Bisagra
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Gain a one-of-a-kind experience on your unhurried and relaxed road trip across Spain by joining a traveler-approved tour in Madrid. There are so many fun and eye-opening activities to try out in Madrid that will make your slow-paced self-drive tour in Spain more memorable.

Exploring new places makes you hungry. Luckily, Toledo has multiple restaurants that offer fantastic dining experiences to continue your laid-back and stress-free discovery of the city.

As the day is coming to an end, retreat to your hotel for some rest, or head out to a bar to celebrate your time in Toledo. The bars in Toledo make the perfect setting for a laid-back drink and chilled hangout with your travel companions.

Cherish every minute of your relaxed road trip vacation across Spain.

Day 7

Toledo
Salamanca
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Drive 240 km, 3 hours 21 min

Palacio de los Verdugo
Walls of Ávila
Ávila Cathedral
Plaza Mercado Chico
Viewpoint of Ávila
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Day 7 of your relaxed road trip across Spain offers a day of exciting discoveries. You’ll end your day in Salamanca, where you’ll stay for 2 nights.

Continue your laid-back road trip in Spain as you make your way to Salamanca. Here, you’ll find top hotels and accommodations in the city, perfect for relaxing and recharging.

After a laid-back day of exploring top attractions in the area, it’s an excellent idea to sit down for a lovely and peaceful dinner. We’ve collected the most recommended restaurants in the city for you, so you can check out the menus and make your reservation in advance.

As the day is coming to an end, stop at some of Salamanca’s best bars to celebrate this day of your slow-paced adventure in Spain.

Raise your glass and relax after another big day of your leisurely paced road trip in Spain!

Day 8

Salamanca
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Drive 2 km, 40 min

Frog Salamanca
Salamanca Cathedral
Calisto and Melibea Vegetable Garden
Casa Lis
Roman bridge of Salamanca
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Spain makes the perfect setting for a calming but fun road trip experience. Aside from amazing sights, Spain also offers plenty of tours to enhance your relaxed road trip experience.

When it’s time to eat, the city has a variety of restaurants and cuisines to suit your palate and complement your relaxed road trip experience. Take a leisurely walk around Salamanca, while looking for a place to eat. Or, check out our top recommendations and treat yourself to a nice meal.

Experience the amazing nightlife in Salamanca and unwind at the coolest bars in the city.

Grab a drink and enjoy every passing minute of this night of your relaxed road trip experience in Spain!

Day 9

Salamanca
Madrid
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Drive 248 km, 3 hours 28 min

Alcázar of Segovia
Segovia Cathedral
Plaza Mayor
Aqueduct of Segovia
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Day 9 of your easy, relaxed road trip through Spain lets you travel at your own pace and visit multiple places in a single day. By evening, drive toward the Madrid, where you’ll stay at a top-rated hotel of your choice for 1 night.

In Madrid, you’ll find plenty of places to unwind after a day on the road. Our top recommendations go perfectly with your laid-back road trip in Spain.

When it’s time to eat, the city has a variety of restaurants and cuisines to suit your palate and complement your relaxed road trip experience. Take a leisurely walk around Madrid, while looking for a place to eat. Or, check out our top recommendations and treat yourself to a nice meal.

Take a stroll around the area, head back to your accommodation for the night, or continue your evening at one of the best-rated bars in the city.

Grab a drink and enjoy every passing minute of this night of your relaxed road trip experience in Spain!

Day 10

Madrid - Departure day
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La Latina
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Day 10 of your relaxed road trip in Spain is your departure day. If you’re flying home, return your rental car with time to spare.

Browse through boutiques to find unique and stylish fashion pieces to take home. Explore high-end stores offering an exquisite selection of luxury items.

Over a good meal, take a moment to unwind and reflect on the past 10 days of your relaxed road trip.

The unforgettable experiences you’ve collected along your 10-day relaxed road trip in Spain is a story you will tell for the rest of your life.

How it works

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Confirm your package instantly and lock in the best rate with secure payment and guaranteed availability.

Get instant confirmation

Shortly after booking, you’ll receive your full itinerary, including schedules, locations, and everything you need for a stress-free trip.

Personalize your itinerary

Each package includes a professionally crafted itinerary you can tailor to your travel style. A dedicated travel expert will make sure every detail fits your needs perfectly.

Easily make changes

Need to update plans? No problem. Whether before your trip or mid-journey, we’re just seconds away to help with quick adjustments.

Enjoy seamless planning

With everything from accommodations to activities pre-arranged, our packages save you hours of research—so you can spend more time enjoying your trip, not planning it.

Explore with confidence

From scenic road trips to city-hopping adventures, we’re here 24/7 to support you across Europe—before, during, and after your trip.

Secure your spot

Confirm your package instantly and lock in the best rate with secure payment and guaranteed availability.

Get instant confirmation

Shortly after booking, you’ll receive your full itinerary, including schedules, locations, and everything you need for a stress-free trip.

Personalize your itinerary

Each package includes a professionally crafted itinerary you can tailor to your travel style. A dedicated travel expert will make sure every detail fits your needs perfectly.

Easily make changes

Need to update plans? No problem. Whether before your trip or mid-journey, we’re just seconds away to help with quick adjustments.

Enjoy seamless planning

With everything from accommodations to activities pre-arranged, our packages save you hours of research—so you can spend more time enjoying your trip, not planning it.

Explore with confidence

From scenic road trips to city-hopping adventures, we’re here 24/7 to support you across Europe—before, during, and after your trip.

We guarantee

Your trip is protected, personalized, and priced right. No surprises, no stress.

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