While our American family loves living in Madrid, sometimes a day spent in a local small town is just what this family needs. Some of the best ways to experience an authentic day visiting Spain is to spend time amongst the local Spanish small towns or pueblos. Many of these are also developed cities that have just a bit slower pace than Madrid, which some days is exactly what we’re looking for. Follow along as I create an ongoing list of our favorite small towns near Madrid, Spain that we find are worth a visit. All of these cities and towns are within a two-hour drive or train ride from Madrid.

Toledo: (less than 1 hr drive from Madrid) this destination is similar to Segovia but even a little more quaint. Great shopping and dining, dreamy views around every corner and the easiest day trip from Madrid. This is my favorite small town near Madrid!

Segovia: (1h 15m drive from Madrid) this should be the first trip you take! The alcazar, small town filled with shoppes, cathedral and aqueducts are stunning.

Rascafría: (1h 15m drive from Madrid) this mountain town is small and has less tourists, but offers incredible views of a local stream and feels like a getaway into nature.

Alcalá de Henares: (45 min drive from Madrid): This destination is a gem and makes for a great way to see an area outside of Madrid property via train or car. We love the beautiful back streets and the shoppes, restaurants and historical vibes.

Aranjuez: (45 min drive from Madrid) this small town is perfect to visit in spring and is great place for kids to roam free. From extensive gardens to wild peacocks running around the palace, this is a do not miss town!

Manzanares el Real: (45 min drive from Madrid) this small town was the first place we lived in an Airbnb in Spain and it is so lovely. I enjoyed hearing the nightly clock tower ring and the feels of the small town center plaza. A must-see here is the castle, worth a tour.

Buitrago del Lozoya: (only one hour drive from Madrid) we highly recommend this destination during summer! This small town on the Loyoza River is the perfect place to experience authentic Spain and take a dip in the river.

Avila: (1h 15m drive from Madrid) this less-discovered city is a real-life fortress and is super cool to explore.

Cuenca: (under 2 hr drive from Madrid) this hill-filled destination had some amazing views and we found a restaurant in a cave, recommended to us by friends, that was really incredible! Called @grottedelhuecar, this is a do-not-miss restaurant while walking these streets with hanging houses on the hill.

Sigüenza: (1h 20m drive from Madrid) this is a gorgeous city in the Castile-La Mancha autonomous community in the province of Guadalajara. We absolutely loved this precious city, even on a rain day, for getting a true authentic feel of Spain.

Next up for our family: Cercedilla, Guadalix de la Sierra, Patones de Arriba, Briguega (July), Pedraza, La Granja de San Ildefonso, Chinchón and El Escorial. Where else should we visit near Madrid?