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

On day 2 of your leisurely self-drive tour across Spain, you’ll go deep into Madrid, where you'll stay for 2 nights, and see some of the city’s unforgettable attractions. To learn more of the city's culture, you'll also dine at the most popular restaurants in Madrid, and meet locals along the way!

A blend of family-friendly attractions, romantic experiences, and breathtaking views await you in Madrid on today’s itinerary. First up is the wondrous public square, Main Square. Afterward, continue to Market Of San Miguel, a food market every traveler should visit.

As you explore Madrid’s charming streets, take in the lively atmosphere and get to know the character of the city. Next, make your way to Royal Palace Of Madrid. This iconic palace is an essential stop. Following that, head to Temple Of Debod, another must-visit site that will enhance your experience. Don’t forget to stop by Casa De Campo, an impressive park in the city.

Spain makes the perfect setting for a calming but fun exploration. Aside from amazing sights, Spain also offers plenty of tours to enhance your relaxed road trip experience.

Exploring the food culture in Madrid 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.

Prepare for an extraordinary culinary adventure in Madrid by booking a table at DiverXO, a 3-star Michelin restaurant that boasts an exceptional creative menu. For a different flavor experience, head to Smoked Room, renowned for its delectable contemporary dishes. This 2-star Michelin restaurant consistently wows guests, making it a memorable stop during your holiday. Looking for another option? Visit Paco Roncero, a local gem known for its delightful creative cuisine in Madrid. Nestled in the city's heart, this 2-star Michelin restaurant is a perfect choice for discerning restaurant-goers seeking a new experience.

A visit to a top-rated local bar is one of the most refreshing ways to cap off a beautiful night in Madrid.

After enjoying a delightful dinner, why not delve into the vibrant local bar scene? You might want to spend the evening at Jazz Bar, a well-loved spot among locals and tourists. Or, head to España Building. This bar boasts a welcoming environment that is perfect for winding down. You could also continue your night at 1862 Dry Bar, another top-rated place in the area.

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

Day 3 of your relaxed road trip through Spain means 24 hours of making the best memories in Madrid. You’ll go sightseeing at famous attractions in Madrid. In the evening, you will experience one of the most popular dining spots in the city. So buckle up and prepare to be blown away by Madrid!

Set out on a day brimming with fun adventures, breathtaking views, and picturesque spots. Start at the iconic Santiago Bernabéu Stadium, a standout stadium in Madrid. Next, go to Las Ventas.

After visiting Santiago Bernabéu Stadium and Las Ventas, have a stroll along Madrid's streets and take in the local charm. Continue your sightseeing by heading to Crystal Palace. This romantic art installation offers a unique experience. El Retiro Park is another noteworthy attraction worthwhile a visit. End your self-guided sightseeing tour on top with a visit to Museo Nacional Centro De Arte Reina Sofía, one of the most photogenic places to visit in Madrid.

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.

Visit Plaza Mayor in Madrid for an unforgettable shopping experience. Browse unique and stores, each offering delightful surprises. Find unique souvenirs or items to take home. After shopping, explore what Plaza Mayor has to offer, including restaurants, attractions, essential services, and vibrant community activities.

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.

Dine in style at Areia, a top recommendation for dinner tonight. Or, for a change of pace, La MaMá Restaurante boasts a menu that's sure to impress. Also, be sure to check out Sacha Restaurant. Known as a local hotspot, it’s a great choice for tonight in Madrid.

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.

Free your mind of worries as you enjoy the taste of freedom on your laid-back, relaxed road trip adventure across Spain.

Day 4 of your easy and relaxed road trip through Spain gives you the opportunity to travel leisurely and experience more than one place in one day. You will start your day by exploring some of the best sights in the city of Madrid. By the end of the day, you’ll drive in the direction of the city of Toledo, where you’ll stay at a top-rated hotel of your choice for 3 nights.

Today, you'll explore some of the most beautiful places in Madrid, including a museum and a monument. Start your day with a visit to Thyssen-bornemisza Museum. This well-known museum is a must-visit in the city. When you’re ready for your next discovery, continue to Museo Del Prado, which may be one of the most visually striking places you will experience today.

One of the best things about exploring Madrid on a self-guided tour is that you set the pace. There’s plenty of time for detours and discovering hidden gems. When you’re ready for your next stop, make your way to Puerta De Alcalá, an extraordinary monument in the city.

Continue your laid-back road trip exploration of the best attractions in Spain at Toledo. Select from top hotels and accommodations in the city to recharge and rejuvenate.

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 Toledo.

Enjoy an outstanding dining experience at Iván Cerdeño, a 2-star Michelin restaurant offering an exceptional modern menu. Alternatively, experience a taste of Toledo at La Casa de Damasco, another great place to eat. With a menu designed to impress, it promises a journey of flavors that will leave you captivated.

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.

Unwind after your meal by stepping into Buca Bar. This venue is celebrated for its extensive drink selections and cozy vibes. Alternatively, Pub "o'briens" offers a dynamic and energetic atmosphere for a glass or two. Don’t overlook Terraza Miradero, another top-rated bar in the area.

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

Day 5 introduces you to many popular attractions and activities in Toledo, further proving that leisurely self-drive tours in Spain are extraordinary.

Today’s well-planned self-sightseeing route offers several family-friendly attractions, romantic experiences, and breathtaking views. Whether you decide to explore Toledo on foot, use public transport, or join a guided tour, there are a few attractions you don’t want to miss. Alcantara Bridge is the first of them. Spend some time admiring this UNESCO world heritage-listed monument before continuing your journey. Army Museum is your next stop. This frequently visited military museum is one of the best-rated sights in Toledo.

Consider grabbing some lunch or a light snack to keep your energy going. Beyond the above-mentioned attractions, today is also the perfect time to visit Alcázar Of Toledo. This breathtaking castle is a sight to behold. To round off your sightseeing experience, visit Santa Iglesia Catedral Primada De Toledo.

Another way to make your easygoing and relaxed road trip in Spain more special is by joining unique tours and activities. Toledo offers a wide selection of experiences for every traveler.

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.

Treat yourself to a delightful dinner at Tobiko Restaurante, highly recommended for tonight's dining. Or, if you're feeling adventurous, why not try Entre Dos Fuegos Restaurante? It's another excellent option with a diverse menu. Consider reserving a table at El Trébol as well. Known for its consistent customer satisfaction, it’s an ideal pick for tonight in Toledo.

Hang out and unwind at some of the top bars in Toledo.

Raise your glass and toast to another unforgettable, laid-back road trip adventure in Spain!

On day 6 of your leisurely self-drive tour across Spain, you’ll go deep into Toledo, where you'll stay for 1 night, and see some of the city’s unforgettable attractions. To learn more of the city's culture, you'll also dine at the most popular restaurants in Toledo, and meet locals along the way!

Toledo is home to plenty of attractions that offer fun adventures, romantic experiences, and breathtaking views! Start at Mirador Del Valle, a popular observation deck that is worthwhile a visit in the city. Nearby, you’ll find San Martin's Bridge, enchanting visitors with its enchanting appeal. Continue your exploration at Fly Toledo. This sightseeing destination is one of the city’s most worthwhile spots.

Enjoy the freedom of exploring Toledo at your own pace and find hidden gems along the way. If you want to see more picture-perfect spots, make sure to visit Monasterio De San Juan De Los Reyes, Toledo. After exploring the monastery, head to the popular Puerta De Bisagra.

Gain a one-of-a-kind experience on your unhurried and relaxed road trip across Spain by joining a traveler-approved tour in Toledo. There are so many fun and eye-opening activities to try out in Toledo that will make your slow-paced self-drive tour in Spain more memorable. Check out all the most recommended and top-rated tour options in the city of Toledo to find the best options for you!

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 Toledo, while looking for a place to eat. Or, check out our top recommendations and treat yourself to a nice meal.

Don’t miss out on dining at Restaurante Taberna El Gallo Toledo, a top-rated dining destination in Toledo. If you're in the mood to try something new, consider Bar Skala, another top spot with a mouthwatering menu. You might also want to secure a reservation at La Clandestina. With a reputation for consistently satisfying customers, it’s a perfect choice to enhance your stay in Toledo this evening.

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

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

Day 7 of your leisurely self-drive tour in Spain is another opportunity for an in-depth travel experience in the country. You’ll stay in Salamanca for 2 nights.

Prepare for a day full of family-friendly attractions, photo-friendly spots, and historic treasures. When you’re ready, kick off your sightseeing adventure at Palacio De Los Verdugo, Ávila. This underrated palace is a must-visit for anyone seeking a unique vacation experience. Another sight you shouldn’t miss is Walls Of Ávila, one of the city’s best highlights.

Next, check out Ávila Cathedral, one of the most underrated places to see in Toledo. This church is a favorite among locals and travelers alike. Enjoy some downtime and refreshments before continuing to your next stop, Plaza Mercado Chico. Wander around and soak in the history-steeped atmosphere this public square offers. Then, head to Cuatro Postes Lookout - Viewpoint Of Ávila, a top-rated observation deck that adds another dimension to your day.

In the city of Salamanca, you’ll find plenty of stay options that will accommodate your need for rest and relaxation after spending your day on the road. Our top recommendations perfectly complement your relaxed road trip vacation in Spain.

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 Salamanca, explore the city like a local by trying out the best restaurants in the area.

Treat yourself to an extraordinary dining experience at En la Parra, a 1-star Michelin restaurant offering an incredible contemporary menu. Alternatively, if your taste buds call for something different, Víctor Gutiérrez is one of the best restaurants for creative and fusion cuisine in Salamanca. This 1-star Michelin-awardee earns consistently high praises from guests.

A visit to a top-rated local bar is one of the most refreshing ways to cap off a beautiful night in Salamanca.

After enjoying a delightful dinner, why not delve into the vibrant local bar scene? You might want to spend the evening at Vintage Cocktail Bar, a well-loved spot among locals and tourists. Or, head to Café Bar Capitán Haddock. This bar boasts a welcoming environment that is perfect for winding down. You could also continue your night at Mist Cocktail Bar, another top-rated place in the area.

Free your mind of worries as you enjoy the taste of freedom on your laid-back, relaxed road trip adventure across Spain.

Day 8 of your relaxed road trip through Spain means 24 hours of making the best memories in Salamanca. You’ll go sightseeing at famous attractions in Salamanca. In the evening, you will experience one of the most popular dining spots in the city. So buckle up and prepare to be blown away by Salamanca!

Bring your curiosity for today’s adventure around Salamanca. Some of the city’s most loved attractions await! Frog Of Salamanca is the perfect place to start. This point of interest is one of the most beloved places to visit in Salamanca. Next, head to Salamanca Cathedral, a captivating church, known for its inviting features.

In between the sights, don’t hesitate to take small detours to explore local stores and eateries. When you’re ready to continue your adventure, head to Calisto And Melibea Vegetable Garden. This peaceful botanical garden is a highly recommended experience. Nearby, you'll also find Casa Lis and Roman Bridge Of Salamanca. Visit these for an interesting touch to your journey.

Spain makes the perfect setting for a calming but fun exploration. Aside from amazing sights, Spain also offers plenty of tours to enhance your relaxed road trip experience.

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 Salamanca.

Enjoy a lovely meal at Restaurante Origen, a top-rated place to have dinner tonight. Alternatively, if your taste buds call for something different, Restaurante Víctor Gutiérrez is another top choice with a popular menu. You could also check for a table at La Tahona de la Abuela Caffe. As an establishment that gains consistently high praises from customers, it’s an ideal choice in Salamanca tonight.

If you’re not yet ready to call it a night, head back out to celebrate your vacation with a drink. This is a great time to slow down, look back at your day, and raise a toast to your wonderful holiday in Spain.

Let the evening flow smoothly from dinner to drinks at Bar Segundo, a top-rated bar in the area. For other recommendations, Cafetería Toscano provides a perfect setting for rounding out your night with style and great drinks. Likewise, Gran Tasca Bar Manzano offers a memorable night with diverse drink options and excellent service.

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

On day 9 of your laid-back and relaxed road trip adventure, you’ll have the chance to visit more than one remarkable area in Spain. Since this self-drive tour offers freedom and flexibility, you can decide how much time you want to spend in each place to enjoy the memorable travel destinations in Spain.

Discover a day packed with family-friendly attractions, romantic experiences, and breathtaking views in Salamanca. Begin your sightseeing with Alcázar Of Segovia. This extraordinary castle is one of the top attractions in the city. Proceed to Segovia Cathedral, another must-visit attraction.

As you wander through the inviting streets of Salamanca, soak in the lively ambiance and take the opportunity to snap some photos. Next, head to Plaza Mayor. This frequently visited public square is a traveler-favorite. Not far away, you’ll find Aqueduct Of Segovia, another key site on your sightseeing itinerary.

You’ll be staying at the incredible city of Madrid in this laid-back road trip in Spain. You'll stay here for 1 night.

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

Don’t miss out on dining at Taberna Mozárabe, a top-rated dining destination in Madrid. If you're in the mood to try something new, consider Restaurante Lakasa, another top spot with a mouthwatering menu. You might also want to secure a reservation at Lambuzo. With a reputation for consistently satisfying customers, it’s a perfect choice to enhance your stay in Madrid this evening.

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.

A leisurely self-drive holiday in Segovia can’t get any better than this! Toast to another amazing day in Spain!