Private tours
Your own guide, your own pace, priced per group rather than per person on most listings.
Prices run from €16 to €800, and half of the 93 priced listings cost €125 or less. Most take 2 hours to 3 hours. The best reviewed with at least 100 reviews is Madrid: Private Tuk-Tuk Sightseeing Tour with Personalized Pickup (5.0 from 246 reviews). The most reviewed is Madrid Private Segway Tour: Retiro Park and Centro Histórico (727 reviews).
For the operators we researched and recommend, see our food tours and cooking classes in Madrid, or the experiences overview.