Start your day at Retiro Park, the largest park in Madrid, boasting beautiful gardens, fountains, lakes, and sculptures. This park offers many activities, including biking, row boating, and picnicking. Visit Crystal Palace, a glass building exhibiting contemporary art, and have fun at the children's park with swings, zip lines, and a sandpit. Don't miss the famous Estanque del Retiro, the large artificial lake where you can rent paddle boats and enjoy a scenic view of Alfonso XII Monument.
Visit the Royal Palace of Madrid, the official residence of the Spanish Royal Family. This palace boasts 3,418 rooms, stunning architecture with rococo, baroque, and neoclassical elements, and impressive art collections with paintings and tapestries. Don't miss the Throne Room, the Royal Pharmacy, and the Armory. The palace provides audio guides and guided tours. After your visit, stroll around the gardens with amazing views of the city and watch the changing of the guard ceremony at noon.
If you have more time, consider visiting Prado Museum, home to many world-famous art collections, or Parque Warner, a theme park with rides and attractions for all ages. If you have less time, you could pick one attraction per day, or you could swap Mercado San Miguel for Plaza Mayor, a historic square surrounded by restaurants and souvenir shops, or Gran Via, a famous shopping street with many cafes and cinemas. Other family-friendly activities include visiting Madrid Zoo-Aquarium, going to Teléferico cable car to see Madrid from above, or going to Faunia, a biodiversity park with more than 3,000 animals.