5-Day Spain Self-Drive Road Trip With Itinerary from Madrid to Toledo

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Explore the best of Spain on a 5-day road trip! Uncover hidden gems and experience the rich culture firsthand as you journey through Madrid, Toledo, Segovia, and Zamarramala. This road trip itinerary in Spain seamlessly combines exploration with relaxation.

This perfectly planned road trip itinerary in Spain takes you through some of the best places to see in the country. You will spend 3 nights in Madrid and 1 night in Toledo. Anticipate well-spent days sightseeing, eating delicious food, and experiencing the highlights of each destination!

With this travel package, you can choose from an extensive selection of accommodations along your road trip route in Spain. We have handpicked the best hotels and places to stay across the country, including options for each budget. Whether you are in the mood for luxurious 5-star hotels or budget-friendly bed and breakfasts, we have got you covered.

Upon arriving in Madrid, the rental vehicle of your choice will be ready for collection. From there, the road trip can begin! Experience the ultimate freedom and uncover Spain on your own terms.

An expertly curated travel plan makes sure you don’t miss out on any of the best things to see and do on your road trip in Spain. El Retiro Park and Main Square are just a couple of the bucket-list attractions that await your discovery. Marvel at the remarkable Museo Del Prado, learn more about the unique Royal Palace Of Madrid, and immerse yourself in the vibrant atmosphere of Aqueduct Of Segovia.

As you hit the open road and drive through Madrid, Toledo, Segovia, and Zamarramala, you will also enjoy plenty of opportunities to uncover hidden gems and experience the authentic charm of Spain. Whether you are exploring enchanting towns and villages, discovering scenic routes, or indulging in local cuisine, there is always something new and exciting to experience in Spain.

Throughout your road trip in Spain, take breaks from sightseeing to explore your favorite destinations' top shopping streets and markets. Discover unique souvenirs that will forever remind you of your self-drive adventure in Spain.

This package offers an all-in-one solution for your trip planning - choose flights, a rental car, accommodation, attractions, and tours that suit your needs and desires. You can customize each day of your road trip itinerary with flexible trip planning before and after booking.

The best services in Spain fill up quickly, so book your spot early. Select a date and start planning your road trip in Spain today!

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Driver’s age is 30 - 65
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Itinerary summary

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Days
Destination
Attractions
Overnight
Day
City & Overnight
Attractions
Main Square
Temple of Debodplaza de EspañaRoyal Palace of MadridEl Retiro ParkPuerta de AlcaláMuseo del Prado
Mirador del VallePuerta de BisagraMonasterio de San Juan de los Reyes, ToledoEl Greco MuseumAlcázar of ToledoSanta Iglesia Catedral Primada de Toledo
Aqueduct of SegoviaPlaza MayorPuerta de San AndrésSegovia CathedralAlcázar of SegoviaMirador de la Pradera de San Marcos
Gran Vía

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Day 1

Day 1

  • Madrid - Arrival day
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  • Main Square
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Say hello to Madrid! Your exciting road trip through Spain is just about to start. Navigating the top places to see in the region is a breeze with a car. The rental vehicle of your choice will be ready for pickup upon your arrival in the city. You will stay in Madrid for 2 nights before you continue your adventure!

Madrid is a beautiful city with plenty to discover. If you arrive before check-in time or prefer to get started on your sightseeing right away, we recommend checking out Main Square, or just taking a stroll in the city center. Soak in the lovely atmosphere and sit down for a bit to eat or drink.

Find your way to your hotel in Madrid. We recommend choosing a hotel in a central location for easy exploring. Check-in typically starts between 2 and 4 PM at hotels in Spain. Settle in and make plans for the evening.

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.

Enjoy a delicious meal at Restaurante Taberna Madrid Madriz, a top-rated dining destination in Madrid. If you're in the mood to try something new, consider Lamucca del Carmen, another top spot with a mouthwatering menu. You might also want to secure a reservation at El miniBAR. With a reputation for consistently satisfying customers, it’s a perfect choice to enhance your stay in Madrid this evening.

Round off your dining experience by visiting Bar Yambala, a prime location for a drink. Alternatively, explore the distinctive characteristics of Baton Rouge Cocktail Bar, a bar catering to every mood and preference. Cafe Madrid likewise offers a unique atmosphere, perfect for a memorable night out.

Raise a toast to the start of your 5-day road trip in Spain!

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Day 2

Day 2

  • Madrid
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Drive 11 km, 1 hour 35 min

  • Temple of Debod
  • plaza de España
  • Royal Palace of Madrid
  • El Retiro Park
  • Puerta de Alcalá
  • Museo del Prado
  • More

Day 2 of your road trip will take you to the best attractions Madrid has to offer. Cherish the 1 night you have left in Madrid by discovering the best things there are to see and do in the city.

Whether you prefer a leisurely exploration or a more fast-paced adventure, this itinerary in Madrid allows for both. Start by heading to Temple Of Debod. This extraordinary monument provides an insightful glimpse into the city's identity. Next, discover Plaza De España, a detailed public square, promising a delightful encounter.

Continue your sightseeing with a visit to Royal Palace Of Madrid, a world-famous palace. When you’re done, don’t forget to make a stop at the world-famous El Retiro Park. Not far away from the park, you will find the photogenic Museo Del Prado, perfect for a quick visit. Round off your day at Puerta De Alcalá, another gem in Madrid with grand features to discover.

Don’t forget to check out all the popular tours and activities you can add to your road trip itinerary. Spain is a beautiful travel destination that offers plenty of unique tours that will enhance your vacation experience. Explore and select your activities below.

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

Make sure to reserve a table at Alhambra, an iconic dining spot in Madrid. This culinary treasure and its outstanding menu have enchanted food enthusiasts from around the world. Immerse yourself in the culinary delights of Restaurante Alabaster, a popular restaurant in Madrid. With a menu designed to delight, it ensures a dining experience that transcends the ordinary. Experience the culinary magic of Restaurante De María - Felíx Boix, a hidden gem nestled in Madrid. Known for its exquisite cuisine and inviting atmosphere, it's a dining experience you won't soon forget.

Continue your lively evening at Jazz Bar, a perfect place for winding down or revving up the night, depending on which mood you’re in. España Building is another excellent bar that offers a great selection of drinks to suit any mood. If you prefer to go somewhere else, 1862 Dry Bar ensures a night out tailored to your taste.

Take some time to reflect on your day and savor another beautiful night in Spain.

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Day 3

Day 3

  • Madrid
  • Toledo
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Drive 80 km, 1 hour 48 min

  • Mirador del Valle
  • Puerta de Bisagra
  • Monasterio de San Juan de los Reyes, Toledo
  • El Greco Museum
  • Alcázar of Toledo
  • Santa Iglesia Catedral Primada de Toledo
  • More

Experience an unparalleled adventure on day 3 of your road trip in Spain. This exciting part of your journey invites you to discover the renowned landmarks in 1 vibrant destinations - Toledo. After a day filled with exploration and new experiences, you will retreat to the hotel of your choice in Toledo. You will spend 1 night here for some well-deserved relaxation.

Brace yourself for today’s incredible lineup of attractions in Madrid, featuring family-friendly attractions, romantic experiences, and scenic views. Start at Mirador Del Valle, a captivating observation deck in the city. Then, head to Puerta De Bisagra and soak in the ambiance of this instagrammable monument.

There are many interesting places to see in Madrid, and when you are ready for more, go to Monasterio De San Juan De Los Reyes, Toledo. This is one of the city’s most beloved respected spots of interest. After exploring the monastery, visit the underrated El Greco Museum. Not far away, you'll also find Alcázar Of Toledo. This castle is a historic highlight in Madrid. Before wrapping up your self-guided sightseeing tour, head to Santa Iglesia Catedral Primada De Toledo, a locally renowned church in the city.

When you’re done exploring for the day, you’ll drive to your hotel in Toledo. Check in and spend some time relaxing before you head out to tour the city.

As you explore more of Toledo, you'll discover that its culinary landscape is as diverse as its attractions. Whether you're craving traditional dishes bursting with local flavors or innovative creations that push the boundaries of taste, you're sure to find a dining experience that satisfies your cravings.

Enjoy a delicious meal at Restaurante Museo de Productos de Castilla-La Mancha, a top-rated dining destination in Toledo. If you're in the mood to try something new, consider La Casa de Damasco, another top spot with a mouthwatering menu. You might also want to secure a reservation at La Cave. With a reputation for consistently satisfying customers, it’s a perfect choice to enhance your stay in Toledo this evening.

After enjoying a fulfilling meal, continue your evening at Buca Bar, ideal for those looking to unwind with a drink in a comfortable setting. Alternatively, Pub "o'briens" offers a welcoming atmosphere for easing into the nightlife. Similarly, Terraza Miradero provides an excellent environment for a relaxed and enjoyable evening.

Relax and recharge in preparation for another adventurous day in Spain!

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Day 4

Day 4

  • Toledo
  • Madrid
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Drive 258 km, 3 hours 49 min

  • Aqueduct of Segovia
  • Plaza Mayor
  • Puerta de San Andrés
  • Segovia Cathedral
  • Alcázar of Segovia
  • Mirador de la Pradera de San Marcos
  • More

On day 4 of your exciting self-drive vacation in Spain, you’ll soak in the magnificence of 2 destinations, Segovia and Zamarramala. When you’re not sightseeing, take time to relax at your selected hotel in Madrid, where you’ll be staying for 1 night.

Immerse yourself in Toledo’s rich culture with today's sightseeing itinerary. Start your journey at Aqueduct Of Segovia. This picture-perfect monument is sure to ignite your curiosity. Next, dive into the standout features of Plaza Mayor, a must-visit public square in the city.

In between sights, stop by local stores, picturesque photo spots, and small eateries. When you’re ready for your next attraction, proceed to Puerta De San Andrés, a curiosity-inducing monument. For a change of scene, check out Segovia Cathedral, known for its picture-perfect features. We also recommend visiting Alcázar Of Segovia. This castle is a must for anyone looking to experience the city to the fullest. Lastly, end your day with a visit to Mirador De La Pradera De San Marcos, yet another worthwhile attraction in Toledo.

At the end of the day, you will drive to Madrid, where you'll have a room waiting for you at the perfect place to stay. Check in and enjoy some downtime.

After a long day of exploring, sit down for a delicious dinner at a top-rated restaurant in Madrid. Enjoy a satisfying meal that will recharge you for tonight's adventures.

Have a fantastic dining experience at Areia, a highly recommended choice for tonight's dinner. If you're looking to mix things up, La MaMá Restaurante offers an enticing alternative with its varied menu. Additionally, Sacha Restaurant is worth considering. Renowned for satisfying diners, it’s an ideal option for tonight in Madrid.

Savor another day of unforgettable experiences in Spain!

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Day 5

Day 5

  • Madrid - Departure day
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  • Gran Vía
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Day 5 of your road trip in Spain is your departure day. This is your chance to catch a last glimpse of Madrid before saying goodbye to this wonderful destination. If you've still got time left, we recommend doing some last-minute shopping or sightseeing.

At the top of the list of things to do today is to explore Gran Vía, a street that captures the true essence of Madrid. Take your time to uncover its best sides and enjoy its proximity to many of the area’s best attractions.

Explore local shops for souvenirs to remember your trip or find unique gifts for loved ones.

Before you conclude your road trip in Spain, drop by another restaurant for a last chance at a memorable dining experience in Madrid.

If you're in the mood to try something new, consider Restaurante Lakasa, another top spot with a mouthwatering menu.

You’ll then say farewell to Madrid. Drive to the airport, return your car, and take the opportunity to get some last-minute souvenirs before you board your flight home. We wish you a pleasant journey and hope you leave with many wonderful memories of your road trip in Spain!

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