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Aranjuez Royal Palace Tour from Madrid. Discover the regal resplendence of the royal city of Aranjuez, a UNESCO World Heritage-listed cultural landscape, on an intriguing 5-hour from Madrid. Accompanied by a knowledgeable guide, marvel at the imperial magnificence of Palacio Real, Aranjuez’s most significant structure, and stroll around the beautiful gardens that surround the palace. Delve into the rich history of the city with a visit to the Museum of Royal Feluccas and see boats used by monarchs like Philip V and Elizabeth II. Book and Save 10%! Aranjuez Royal Palace Tour from Madrid.