Madrid, the capital of Spain, is a beautiful mix of culture, history, and energy, with wide boulevards, majestic architecture, and a laid-back lifestyle that’s easy to enjoy as a family. If you’re looking for the best things to do in Madrid with kids, the city offers a perfect blend of hands-on museums, lively parks, royal landmarks, and sweet treats.
We spent three days exploring Madrid with our 10-year-old and 4-year-old and loved how walkable and welcoming it felt. From puppet shows in the park to chocolate-dipped churros, here are 10 kid-friendly activities in Madrid that combine fun, culture, and local flavor.
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Enjoy a puppet show and rowboat ride at El Retiro Park, Madrid, with kids
Retiro Park is the green heart of Madrid and a must for families. On our first morning in the city, we spent hours exploring the shaded paths and fountains, but what stood out most were the weekend puppet shows and rowboat rentals on the lake.
How to see a puppet show at El Retiro, Madrid
Madrid’s Teatro de Títeres de El Retiro hosts free puppet shows for children most weekends. Performances take place at 12:30 PM on Saturdays and Sundays, but they’re popular with local families and fill up fast. You need to reserve a free ticket online at teatrotiteresretiro on Friday morning before the weekend show.
The show is in Spanish, but even without fluency, our kids followed the story through the characters and music. I recommend arriving at least 20–30 minutes early for a good spot (seating is first-come, first-served). The Teatro de Títeres is located near the park’s southern edge, close to Paseo de México.
How to rent a rowboat at El Retiro, Madrid
For a classic Madrid experience, head to the large pond (Estanque Grande) to rent a wooden rowboat. The rental kiosk is open daily and doesn’t usually require reservations except on major holidays. Boats fit up to four people and cost about €6–€8 for 45 minutes.
We went mid-morning on a weekday and didn’t have to wait long. If you’re visiting in summer, try to go early or late in the day to avoid the midday heat; there’s no shade on the water. It was a huge hit with our kids, and it gave us great views of the monument to Alfonso XII.
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Visit the Royal Palace of Madrid with kids
The Royal Palace of Madrid is one of the grandest buildings in Spain, and an essential stop for families. Even if you don’t go inside, the exterior alone is worth a visit. We stopped by on our first afternoon and spent time admiring the palace from Plaza de la Armería, where you can watch the guards, enjoy the wide open space, and take in the dramatic architecture.
Fun fact: Despite its name, the Spanish royal family does not live here. The Royal Palace is used for official ceremonies, while the family resides in the smaller Palacio de la Zarzuela just outside the city.
How to visit the Royal Palace of Madrid with kids
The Royal Palace is open daily and located near the Opera metro stop. If you do plan to go inside, general admission includes access to the grand staircase, Throne Room, and Royal Armoury (a big hit with kids).
Tickets cost €14 for adults and are free for children under 5. You can buy tickets online through the official Patrimonio Nacional site to skip the lines. Arrive early to avoid crowds, especially during peak season.
Explore art and hands-on activities at the Prado Museum, Madrid
The Prado Museum is one of the best things to do in Madrid with kids who enjoy art, stories, or history. While it’s known for its world-class collection of European masterpieces, it can also be surprisingly fun for families when approached with a bit of creativity and the right pacing.
How to visit the Prado Museum with kids
To keep kids engaged, focus on just a few standout paintings, like Velázquez’s Las Meninas or Goya’s royal portraits, and treat the visit like a scavenger hunt. Many families bring printed guides or use museum apps that point out details children might enjoy spotting.
Entry is free for children under 18 and for everyone during the last two hours of the day (Monday to Saturday from 6–8 PM, Sundays from 5–7 PM). It’s best to book timed-entry tickets in advance on the official Prado Museum website to avoid long lines.
Stop for Churros and Chocolate at Chocolatería San Ginés in Madrid
No trip to Madrid with kids is complete without churros. We made a special stop at Chocolatería San Ginés, a Madrid institution since 1894, for crispy churros dipped in thick hot chocolate.
Where to find the best churros in Madrid
Churros and Chocolate at Chocolatería San Ginés is located in a small alley near Puerta del Sol. It’s open nearly 24 hours a day, making it easy to fit into your schedule.
The line can get long, but it moves quickly. You order at the counter, grab a seat if you can find one, and wait for your churros and chocolate to arrive.
Our kids loved this treat, and we did too. It’s rich, indulgent, and totally worth it.
Discover Spanish history at Galería de las Colecciones Reales
One of Madrid’s newest museums, the Royal Collections Gallery, opened in 2023 and quickly became a favorite for families interested in history and art.
Why the Royal Collections Gallery is great for families
The space is modern, accessible, and not overwhelming in size. It features treasures from Spanish monarchs, including tapestries, armor, and historic carriages.
Galería de las Colecciones Reales is located right next to the Royal Palace, making it easy to combine both in one visit. We bought our tickets on-site with no wait, but you can also purchase them in advance through the official Patrimonio Nacional website. Admission is €14 for adults and free for children under 5. The building is stroller-friendly, with wide ramps, elevators, and a café and gift shop on the lower level.
There’s a small café and plenty of room for strollers. Even if your kids aren’t history buffs, the interactive displays and dramatic setting make this stop worthwhile.
Take a day trip to Toledo from Madrid
We stopped in Toledo for a few hours on our way to Andalusia, and it was one of the most memorable parts of our trip. Just an hour from the capital, it’s one of the best day trips from Madrid for families looking to explore beyond the city.
This UNESCO World Heritage site offers winding cobblestone streets, impressive medieval walls, and panoramic hilltop views. Kids will enjoy crossing the Alcántara Bridge, peeking into sword shops, and walking through the old Jewish Quarter. The stunning Toledo Cathedral and historical plazas give a glimpse into Spain’s layered past.
How to plan a day trip to Toledo, Spain
Toledo, Spain, is about 30 minutes by high-speed train from Madrid’s Atocha Station. Trains run frequently, and tickets can be booked on renfe.com.
Local tip: Don’t leave without trying Toledo’s famous marzipanes, handmade almond sweets that have been part of the city’s culinary tradition for centuries. You’ll find charming bakeries near the cathedral offering free samples and beautifully boxed treats to take home.
Even a half-day visit gives you a feel for Toledo’s layered history and architecture, it’s a magical place that feels very different from Madrid.
Let kids run around at Plaza Mayor, Madrid
Plaza Mayor is one of the most iconic squares in Madrid, and a great place to take a break while sightseeing with kids. The large, pedestrian-only space is perfect for letting them stretch their legs.
Why Plaza Mayor is great for families
There are lots of casual restaurants with outdoor seating, so parents can enjoy a drink or coffee while kids run circles around the cobblestones.
You’ll likely pass through the Plaza Mayor several times while walking through central Madrid. Stop for a snack, browse the souvenir shops under the arches, or grab a photo with the statue of King Philip III.
Visit Madrid Zoo and Aquarium
Though we didn’t visit the zoo on this trip, it’s a popular choice for families with younger kids. Madrid’s Zoo Aquarium is located in Casa de Campo and houses over 6,000 animals from around the world.
What to expect at Madrid Zoo with kids
At Madrid Zoo, you’ll find everything from giant pandas and koalas to dolphins and gorillas. The zoo also has a small aquarium and bird shows.
Tickets can be booked online at zoomadrid.com and include options for combo experiences. It’s accessible by Metro Line 10 (stop: Casa de Campo).
Plan for about 3–4 hours to explore the zoo fully.
Climb aboard historic trains at the Madrid Railway Museum
If you’re looking for kid-friendly indoor attractions in Madrid, the Madrid Railway Museum (Museo del Ferrocarril) is a top pick, especially for little ones who love trains. Located in the Delicias neighborhood and housed in a 19th-century train station, this museum showcases a hands-on collection of vintage steam, diesel, and electric locomotives that children can explore up close.
There are interactive exhibits, model train displays, and occasional themed train rides on weekends. It’s an engaging mix of history and play that’s perfect for toddlers, preschoolers, and curious older kids alike.
Why visit the Madrid Railway Museum
The historic setting, variety of real train cars, and hands-on exhibits make this one of the best things to do in Madrid with young kids. It’s an ideal indoor activity on a rainy day or a quieter stop away from Madrid’s major tourist sites. The museum is also known for its monthly vintage train market, held on select Sundays.
The museum is open most days of the week. Check ahead for special events and themed rides that could enhance your visit.
Taste and wander at Mercado de San Miguel, Madrid
San Miguel Market is a feast for the senses and a great place to introduce kids to Spanish food. Even picky eaters will find something to try, whether it’s ham croquettes, mini sandwiches, or sweet treats.
Tips for visiting with kids Mercado de San Miguel, Madrid
The market is busiest in the late afternoon and evening, so visit earlier in the day if you want to avoid the crowds.
While seating can be limited, many vendors offer handheld bites. You can grab a few small plates to share and take turns finding stools. It’s a fun way to sample lots of flavors without committing to a sit-down meal.
Bottom line
If you’re planning a family vacation to Spain, there are countless fun and educational things to do in Madrid with kids. This family-friendly capital is filled with world-class museums, historic landmarks, beautiful parks, and hands-on attractions perfect for children of all ages.
From rowing boats at El Retiro Park and watching puppet shows, to tasting churros at San Ginés and exploring the Royal Palace and Prado Museum, Madrid blends culture and play seamlessly. Whether you’re visiting Madrid for a few days or adding it to a longer Spain itinerary with kids, these unforgettable activities will keep your whole family entertained.
