Planning a Southern Spain road trip that’s easy, diverse, and family-friendly? In April, we took a family road trip from Madrid through Andalusia and visited five incredible cities with short, scenic drives and a perfect mix of culture, coast, and food.
This southern Spain road trip is ideal if you want variety without long days in the car. Our itinerary starts in Madrid, loops through Andalusia with stops in Toledo, Córdoba, Mijas, and Granada, and ends in Barcelona with a short domestic flight.
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Spain driving and car rental tips
For our Southern Spain road trip, we rented a car from Avis Spain, which is a popular and reliable option when renting a car in Spain. Now, we originally booked a manual car, which is the most common and cheaper option, and asked at the counter if we could be upgraded to an automatic rental car.
Luckily, it worked out for this Spain road trip, but it’s not something we recommend relying on. Automatic cars in Spain are limited, and we weren’t as lucky when trying the same approach in London a few months later.
Another important thing to know about driving in Spain as a tourist is that Spain officially requires an International Driving Permit (IDP) for non-EU licenses, even if rental companies don’t always ask for it. If you’re visiting Spain from the U.S., you can get an International Driving Permit for Spain through AAA for about $20, and the process is quick and straightforward.
For rental car insurance in Spain, we paid with the Chase Sapphire Preferred card, which offers primary rental car insurance coverage when you decline the rental company’s collision damage waiver. This saved us hundreds of dollars compared to purchasing insurance directly from the rental agency.
Start your Spain road trip in Madrid
We decided to start our Spain road trip in Madrid, and it was the perfect choice. Madrid is Spain’s main transportation hub, making it easy to arrive internationally, pick up a rental car, and ease into the trip before heading south. We spent three nights in Madrid, which gave us enough time to explore at a relaxed pace before hitting the road.
Things to do in Madrid, Spain, with kids
Madrid offers an excellent mix of culture, green spaces, and food, making it ideal for families and first-time visitors. One of our favorite experiences was spending time in El Retiro Park, especially in spring. We watched a puppet show at Teatro de Títeres, rented a rowboat on the lake, and enjoyed the open space, perfect if you’re traveling with kids.
You can also visit the Royal Palace of Madrid, one of the largest royal palaces in Europe and a must-see for understanding Spain’s history.
You can read more about the 10 best things to do in Madrid, Spain, with kids here.
For food, Madrid does not disappoint. We stopped for churros and chocolate at Chocolatería San Ginés, explored Mercado de San Miguel, and enjoyed simply walking the lively streets in the evenings.
Where to stay in Madrid, Spain
For our stay, we chose Thompson Madrid, an excellent hotel with a central location that made sightseeing easy on foot. Staying in the city center allowed us to explore Madrid without a car and then pick up our rental when it was time to start the road trip.
Areas near the Gran Vía or Barrio de las Letras are especially convenient for a short stay in Madrid before continuing your Spain road trip.
You can read more about our stay at Thompson Madrid here.
Toledo: the perfect day trip from Madrid
We stopped in Toledo on our way to Andalusia, and it ended up being one of the most memorable stops of our Spain road trip. Located just one hour from Madrid, Toledo is one of the best day trips from the capital and an easy, rewarding stop when driving south.
This UNESCO World Heritage Site feels like stepping back in time, with winding cobblestone streets, dramatic medieval walls, and panoramic hilltop views. One of the highlights is stopping at Mirador del Puente San Martín, where you get sweeping views over the city and the Tagus River—one of the most photographed viewpoints in Toledo.
Things to do in Toledo, Spain
Toledo is compact and very walkable, which makes it especially appealing for families. Kids will enjoy crossing the Alcántara Bridge, peeking into traditional sword shops, and exploring the narrow streets of the old Jewish Quarter. The impressive Toledo Cathedral and historic plazas offer a glimpse into Spain’s layered past, where Christian, Jewish, and Muslim influences intersect.
Before leaving, don’t miss Toledo’s famous marzipan, handmade almond sweets that have been part of the city’s culinary tradition for centuries. You’ll find small bakeries near the cathedral offering samples and beautifully packaged boxes.
Even with limited time, simply wandering the old town is one of the best ways to experience Toledo.
Córdoba: history, patios, and the Mezquita
Córdoba was our next stop as we continued our southern Spain road trip, and it’s a city we highly recommend staying overnight in. We spent one night here, which gave us enough time to experience the city’s highlights without rushing.
Things to do in Córdoba, Spain
The main reason most travelers visit Córdoba is the Mezquita-Catedral, one of the most impressive landmarks in Spain. We didn’t book tickets in advance and were able to enter without any issues, though visiting earlier in the day helps avoid the biggest crowds.
Inside, the endless rows of arches are even more striking in person and make this a must-see on any southern Spain itinerary.
After visiting the Mezquita, we walked across the Roman Bridge, one of the most iconic spots in Córdoba, especially beautiful around sunset. From there, we spent time wandering the city’s narrow historic streets, getting lost in the old town and Jewish Quarter, which is one of the best ways to experience Córdoba’s atmosphere.
Where to stay in Córdoba, Spain
We stayed at Líbere Hotel Córdoba, and the location couldn’t have been better. It was within walking distance to the Mezquita, the Roman Bridge, and the historic center, which made exploring incredibly easy, especially with limited time.
Staying centrally allowed us to see the city at a relaxed pace and enjoy early morning and evening walks before and after day-trippers left.
Mijas: coast, beaches, and seafood
Instead of staying directly in the city, we used Mijas as a coastal base for slowing down during our southern Spain road trip. This stop was less about sightseeing and more about relaxation, which made it a perfect contrast to the busy historic cities earlier in the itinerary.
Things to do in Mijas, Spain
One day, we took a short drive to Marbella, where we walked along the beach and enjoyed a relaxed seafood dinner right on the sand. Marbella’s promenade is easy to walk, and beachside restaurants make it a great low-effort stop on a road trip.
We also visited Mijas Pueblo, one of the most charming white villages in Andalusia. With its whitewashed buildings, narrow streets, and scenic viewpoints, Mijas feels completely different from the larger cities and is well worth the short drive.
Where to Stay in Mijas, Spain
We spent two nights at La Zambra Hotel, a Hyatt property. The hotel grounds are beautiful, peaceful, and ideal if you’re looking to unwind mid-road trip. We spent most of our time relaxing by the pool, enjoying the calm atmosphere before continuing on to the next stop.
Staying outside Málaga worked well for us, especially since it allowed easy access to both the coast and nearby Andalusian towns.
Granada: the Alhambra and Albaicín
Granada was one of the highlights of our southern Spain road trip, and we stayed one night at Líbere Granada, which made walking to all the main sights easy and stress-free.
Things to do in Granada, Spain
The crown jewel is, of course, the Alhambra. Make sure to book your tickets in advance and bring your passport, as entry is strictly controlled. Exploring the palace and gardens is an unforgettable experience, and it’s one of the most iconic landmarks in southern Spain.
You can read more about the Best things to do in Granada with kids: a family guide here.
After visiting the Alhambra, we wandered through the Albaicín, Granada’s oldest quarter, with its winding streets, whitewashed houses, and breathtaking viewpoints over the city and Alhambra. We also visited the Museo Cuevas del Sacromonte, which offers insight into Granada’s historic cave dwellings and Romani culture, a fascinating stop for history lovers.
Where to stay in Granada, Spain
Líbere Granada was perfectly located within walking distance of the Alhambra, Albaicín, and Sacromonte, making it easy to explore the city without worrying about transportation. Staying centrally allowed us to experience the city fully, even with a short overnight visit.
Granada combines historic architecture, cultural depth, and stunning views, making it a must-stop on any southern Spain road trip.
Ending the trip in Barcelona
Initially, we thought we’d keep driving from Granada to Barcelona, but we didn’t have enough days, so we took a short direct flight instead. It saved time and let us spend three full nights in Barcelona, which was just enough to explore with our kids without feeling rushed.
Things to do in Barcelona, Spain
Barcelona offers a wonderful mix of culture, architecture, and seaside relaxation, making it a perfect finale to a Spain road trip. We recommend visiting the Sagrada Família and Park Güell, both of which should be booked at least two weeks in advance to ensure entry.
You can read more about the 10 best things to do in Barcelona with kids here.
Wander through the Gothic Quarter to discover winding streets, historic plazas, and charming shops. Don’t miss trying traditional paella in Barceloneta, enjoying fresh seafood right by the water. Between iconic landmarks and relaxed coastal walks, Barcelona provided a memorable conclusion to our journey through Spain.
Where to stay in Barcelona, Spain
We stayed at Murmuri Residence Mercader, a centrally located property that made walking to most of Barcelona’s main sights easy and convenient. Being in the heart of the city meant we could explore without worrying about transportation.
Bottom line
Our southern Spain road trip from Madrid through Andalusia to Barcelona was the perfect mix of history, culture, coastal relaxation, and amazing food.
From the bustling streets of Madrid and the medieval charm of Toledo to the iconic Mezquita in Córdoba, the beaches, and the breathtaking Alhambra in Granada, this route showcases the very best of southern Spain.
By keeping drives short, choosing central hotels like Thompson Madrid, Líbere Córdoba, Hotel La Zambra, Líbere Granada, and Murmuri Residence Mercader, and booking must-see attractions in advance, we experienced a stress-free journey filled with unforgettable experiences. If you’re planning a southern Spain road trip itinerary, this route offers the best of Spanish cities, coastlines, and culinary delights in one memorable adventure.
