Escape the City: The 6 Best Day Trips From Madrid

Escape the City: The 6 Best Day Trips From Madrid - Toledo - Wander the Historic Streets of Spain's Former Capital

Toledo is a historic city located about an hour south of Madrid that shouldn't be missed. As the former capital of Spain until 1561, Toledo oozes history and culture around every corner. Wandering its labyrinth of narrow cobblestone streets is like taking a walk back in time.

Declared a UNESCO World Heritage Site in 1986, Toledo is known as the "City of Three Cultures" for the cultural influences of Christians, Muslims and Jews reflected in its architecture. The best way to explore is to simply get lost in the medieval maze and admire the Gothic cathedrals, Mudéjar palaces, synagogues and mosques.

Must-see sights include the 13th-century Gothic Cathedral with its massive interior and glittering stained glass, as well as the Church of Santo Tomé housing El Greco's masterpiece "The Burial of Count Orgaz." The Alcázar fortress dating back to Roman times is also impressive, with its sweeping views over the Tagus River.

In the medieval Jewish Quarter, you can visit two beautiful synagogues - El Tránsito and Santa María la Blanca. Wandering this atmospheric neighborhood with its winding alleys gives you an insight into Toledo's Sephardic Jewish history.

Make sure to also check out the Museo del Greco dedicated to the famous painter who lived and worked in Toledo. In addition to housing many of his iconic paintings, you can visit his restored 16th-century house and studio.

Beyond the main sights, simply meandering the picturesque streets of Toledo is a highlight. Pop into little shops selling traditional marzipan, a Toledo specialty. Or stop at one of the many tapas bars tucked into ancient cellar spaces to refuel over plates of jamón serrano, Manchego cheese and croquetas.

Escape the City: The 6 Best Day Trips From Madrid - Segovia - Marvel at the Fairytale Alcázar and Roman Aqueduct

Segovia is a charming Spanish town just a quick hour north of Madrid by train or car that feels like you've stepped into a fairy tale. Presiding over the city is the breathtaking Alcázar, looking like a castle straight out of a storybook with its turrets and towers. Dating back to the 12th century when it was built as a fortress, the Alcázar reached its peak under Queen Isabella I in the late 15th century. She turned it into a lavish palace full of intricate, ornate rooms reflecting the power and prestige of her reign.

Wandering through the palace today is an incredible experience, especially if you take an audio tour to understand all of the historic details. The Hall of Kings features statues of the rulers that have called the Alcázar home. The intricately carved ceiling in the Hall of Galeras is mesmerizing, along with the grand throne room and royal sleeping quarters. Climb the tower for sweeping views over Segovia and get lost in the lush gardens.

Nearby the Alcázar is another one of Segovia's famous landmarks - the towering Roman Aqueduct dating back to the 1st century AD. With 166 arches rising up to 98 feet, it's a jaw-dropping sight against Segovia's cityscape. You can get the best views and photos of the aqueduct from Plaza Azoguejo. Marvel at the engineering and construction required by the Romans to carry water over 10 miles into Segovia from the mountains.

From the aqueduct, enter Segovia's charming historic center and old Jewish quarter, where you'll find narrow cobblestone lanes perfect for wandering between medieval buildings and Romanesque churches. Climb the spiraling staircase up the Gothic cathedral's tower for stunning panoramas over the city's sea of red-tiled rooftops.

Stop at the lively Plaza Mayor, where you can grab a bite to eat at one of the outdoor cafes and restaurants surrounding the shady central square. Some of Segovia's culinary specialties include roast suckling pig, Cantimpalos chorizo sausage and ponche segoviano, a cake made with marzipan and egg yolk.

Don't miss seeing the exterior of the imposing royal palace of La Granja de San Ildefonso - also known as the "Spanish Versailles" - on Segovia's outskirts. Surrounded by spectacular Baroque gardens in the style of those at Versailles, the 18th-century palace was a summer residence of Spanish royalty.

Escape the City: The 6 Best Day Trips From Madrid - Aranjuez - Stroll Through the Royal Palace's Ornate Gardens

About 45 minutes south of Madrid lies the town of Aranjuez, home to the sprawling Royal Palace of Aranjuez and its spectacular gardens. This UNESCO World Heritage site shouldn't be missed on a day trip from Madrid, especially in spring when the flowers are blooming. Wandering through the ornate French-style gardens is like stepping into a king's paradise.

The Royal Palace is situated on the northern bank of the Tagus River, with both the palace and gardens laid out in an orderly design. Construction first began in the late 16th century under King Philip II, who wanted a lavish royal residence outside of crowded Madrid where he could relax and unwind. The palace grew through the centuries as successive monarchs added their own wings, rooms and decadent furnishings.

Today, visitors can tour the lavish interior with its porcelain rooms, exotic woods, silk wallcoverings, chandeliers and royal portraits. But the real highlight is escaping outside to the palace's sprawling gardens and parklands. Make sure to bring a hat and sunscreen, as there's lots of walking to be done across these vast grounds!

Don't miss the intricate Renaissance and Baroque boxwood shapes of the formal Jardín del Parterre just behind the palace. There is also the relaxing Jardín del Príncipe, or the Prince's Garden, commissioned by Charles IV. Designed in a Romantic English style, it features winding paths, streams, follies and exotic trees from Spain's overseas territories.

For a taste of the gardens' full scale, climb to the top of the Casa del Labrador pavilion for panoramic views. Then continue strolling through the lush Jardín de la Isla, with its fanciful fountains, cascades and Canal Grande lined by hundred-year-old tree-lined avenues leading down to the Tagus River. It's easy to spend hours wandering from one landscaped wonder to the next.

Stop for a break at one of the garden pavilions or follies designed by famous architects of the era. Have a snack at the Casita del Pescador or sip on sangria at the Casa de Marinos pavilion. Or pack a picnic lunch to enjoy on the shaded lawn.

Beyond the palace gardens, Aranjuez's town center is also a pleasant place to spend some time. Have coffee on the lively Plaza de San Antonio before visiting the stately 17th-century Royal Collegiate church. The Museo de Falúas in the former royal boathouse is also worth a stop to see the lavishly decorated barges used by Spanish royalty.

Escape the City: The 6 Best Day Trips From Madrid - Chinchón - Soak Up the Atmosphere in this Traditional Village

About an hour southeast of Madrid is the incredibly charming and historic town of Chinchón. Like stepping back in time, Chinchón perfectly preserves the rural atmosphere of the past with its cobbled plazas, traditional houses draped in flowers, and old stone arches and colonnades. It's a scenic village that shouldn't be missed on a day trip from Madrid.

Chinchón's main claim to fame is its circular Plaza Mayor that hasn't changed much since the 16th century. Ringed by canvas-covered balconies held up by wooden posts, it's one of the most iconic plazas in Spain. Sitting at one of the plaza's outdoor cafes with a coffee or cold beer is the quintessential Chinchón experience. Soak up the ambiance and harmony of the buildings while watching locals chat and kids run across the cobblestones.

On Sundays, Plaza Mayor transforms with the bustling traditional market. Vendors sell fresh seasonal produce like ripe tomatoes, fragrant herbs, and juicy peaches in summer. It's also when you'll find local artisans selling handcrafted baskets, linens, ceramics and textiles. Don't miss wandering through the market's stalls and picking up some Manchego cheese, chorizo sausage or a bottle of olive oil to take back home.

Every August, Chinchón also hosts a Fiesta Mayor with colorful parades, bull running and a massive anisette festival that brings revelers from across Spain. The locals demonstrate how to properly drink the famous anise liquor through hilarious competitions like seeing who can take the most shots at once or hold it in their mouth the longest. Joining the festivities is a one-of-a-kind experience.

Beyond Plaza Mayor, spend time wandering Chinchón's labyrinth of narrow, winding lanes nestled right into the hillside. Admire the rows of charming two-story houses built in the La Mancha style, with wooden balconies and brightly painted window details. Stop at little shops selling lace fans and bonnets or sample local wine at one of the tucked-away bodegas.

Don't miss the 15th-century church of Nuestra Señora de la Asunción, built in a late-Gothic style right on the main plaza. Or hike up to the ruins of Chinchón's 16th-century castle on a hill above town for impressive views over the village's red-tiled rooftops and lush countryside beyond.

Escape the City: The 6 Best Day Trips From Madrid - Avila - Walk the Intact Medieval Walls Surrounding the Town

Avila's claim to fame are its exceptionally well-preserved 11th-century walls, which totally encircle the city - making you feel like you've stepped back to the Middle Ages as you stroll along the ramparts. Over 2,500 feet long and up to 40 feet high, the UNESCO-listed walls look almost surreal jutting into the sky with their crenelated battlements and semicircular towers. Walking their circumference while admiring the view over the city and snow-capped Gredos Mountains beyond is like wandering the set of an ancient movie.

The walls were built out of granite between the 11th and 12th centuries to protect Avila and its citizens. Amazingly, over eighty towers and nine portals still survive intact, giving you a feel for just how impressive these fortifications were when they were constructed nearly a thousand years ago. Walk along the central part of the walls from the Alcázar gate to the San Vicente gate to experience the most interesting and photogenic stretch. Stand atop the highest points for panoramic views over Avila's captivating cityscape of churches, monastery towers, palaces and ancient stone architecture all packed tightly together. Gaze out through arrow slits just as medieval archers would have done to defend their city from invaders.

Several gates like Puerta del Alcázar and Puerta del Peso de la Harina allow passage through the mammoth walls into the historic city center. Wandering Avila's charming narrow lanes, it's amazing to realize you're entirely enclosed by the ancient battlements. Avila has a timeless atmosphere, with locals on bikes riding past medieval churches and student groups lounging in the grassy parks.

Make time to visit the 12th-century Avila Cathedral with its austere Gothic facade and ornate interior featuring the marble tombs of local saints. The Basilica de San Vicente is also worth seeing, as it houses the casket containing the martyred Saint Vincent. And lovers of Spanish avant-garde art must make a stop at the Convent of St. Teresa of Avila, where you can view works by Salvador Dali in a former monastery.

Escape the City: The 6 Best Day Trips From Madrid - Cuenca - Cross the "Hanging Houses" Suspended Over the Huécar River Gorge

Rising from the confluence of two rivers in a dramatic gorge, the historic town of Cuenca seems to defy gravity with its precariously perched "hanging houses" built right into the cliffside. Walking across the footbridges spanning the void and gazing over the edge down at the Huécar River winding through the ravine far below is an experience not quickly forgotten. The houses appear like they could tip off the cliffs at any moment - yet they've clung to the rocks for centuries.

While in Cuenca, crossing the Puente de San Pablo footbridge is a must for views of the city's most emblematic hanging houses. Their facades seem to emerge straight from the rocky cliffs, with some built on little more than wooden cantilevers jutting out over the Huécar's rushing waters. Admire the picturesque jumble of their multicolored, stacked balconies draped in flowers. It's no surprise Cuenca's ancient town center is a UNESCO World Heritage Site.

Hire one of the local guides waiting on the bridge and let them unlock the hidden medieval passages leading through the inside of the hanging houses. Descending through ancient stone arches and tunnels burrowed into the river gorge's walls, you'll get an insider's look at how people ingeniously built right into the cliffs. Emerge onto lower footbridges for a thrilling vantage point peering beneath the overhanging houses.

While the hanging houses are Cuenca's most famous sight, the historic city offers much more for visitors to uncover. Wander the ruined castle walls for panoramic views over the river gorge and red-tiled roofs of the old town. Visit the abstract modern art museum with works by Picasso and Miró showing Spain's avant-garde spirit. And make time for Cuenca's ornate Gothic cathedral, where you can climb up precarious stone staircases and through archways inside the old bell tower for sweeping vistas across the city.

Stop for a break in Cuenca's Plaza Mayor, the lively main square ringed by charming porticoed buildings. Grab a bite from one of the tapas restaurants spilling out onto the cobblestones. Local specialties include the meat stew morteruelo, served with bread for dipping up the rich sauce. Be sure to also try Cuenca's alajú dessert - an Arabic-influenced treat made of almond, honey and spices.

Escape the City: The 6 Best Day Trips From Madrid - La Granja de San Ildefonso - Explore the Lavish Royal Palace of Segovia

Just a short drive from Segovia lies the magnificent Royal Palace of La Granja de San Ildefonso, an opulent residence modeled after Versailles that shouldn't be missed. As you approach along the tree-lined avenue, the palace's imposing facade stretches before you, decorated with statues and fountains straight out of a Baroque fantasy. Entering the lavish interior instantly transports you to the 18th century, when Spanish kings and queens passed their leisure time amid these gilded halls.

Wandering through room after room adorned with ornate carvings, vivid frescoes, exotic marbles, and glittering chandeliers gives you a true sense of the royal lifestyle. In the Queen's Antechamber, painted by renowned Italian artist Amigoni, you feel like royalty yourself while gazing up at the ceiling depicting mythological gods. The Hall of Mirrors dazzles visitors just as it did monarchs of the past, its glass panels and trompe l'oeil details creating a never-ending optical illusion. But for many, the highlight is the intricate porcelain rooms - an astonishing sight, from the porcelain flowers garlanding the walls to the dainty tea sets displayed under glass.

While the interior amazes, the real magic of La Granja lies in its sprawling gardens and fountains. As you exit the palace, an audible gasp may escape at your first glimpse of the sea of multicolored flowerbeds, neatly clipped hedges, and marble statues extending as far as the eye can see. Inspired by Versailles yet with its own unique flair, these gardens were designed for leisurely strolling on a sunny day. Around each bend waits a new wonder, from the lively dancing fountains of the Parterre de los Baños to Neptune reigning over the tranquil lake. Seeing the Fountain of the Frogs spring to life at the automated hour is a whimsical delight.