Madrid has one of Europe's most extensive metro networks, but the historic centre is compact enough that many visitors barely use it.
If you're based in Sol, Centro, Malasaña or La Latina, most major sights are within a 20–30 minute walk of each other. Madrid is flat by Spanish-city standards and pavement quality is generally good, which makes it one of Europe's more walkable capitals.
Madrid's Metro has 12 lines and over 300 stations — dense enough that you're rarely more than a short walk from one. It's clean, frequent, and easy to navigate with colour-coded lines. A multi-trip travel card is cheaper than buying single tickets if you're taking more than a couple of rides.
The bus network fills in where the Metro doesn't reach directly, and night buses ("Búhos") run routes into the small hours after the Metro closes. Less essential for visitors than the Metro, but useful for specific routes.
Madrid's official taxis are white with a red diagonal stripe, metered, and generally reliable — hailing one on the street is normal and easy in the centre. Uber and Cabify also operate widely.
Central madrileños lean heavily on walking and the Metro for daily life — cars are more a suburban habit. If your whole trip stays inside the M-30 ring road, you may not need a taxi at all beyond the airport transfer.
Not recommended for the city itself — parking is limited and expensive, and central Madrid has low-emission zone restrictions. A car only makes sense if you're using Madrid as a base for driving trips well beyond day-trip range.