Mallorca is a fantastic island for walking tours because of its diverse scenery and centuries of history—there’s a story behind every corner, whether you’re wandering through medieval streets, exploring Moorish ruins, or discovering quiet spots outside the most popular attractions. We especially like the Palma de Mallorca Private Guided Walking Tour for its compact yet comprehensive dive into the city’s layered past, and the Alcudia Old Town tour for its stunning views atop medieval walls. If you’re into exploring nature along with history, the Felanitx walk offers a fairy-tale-like trek through caves and abandoned quarries. All three offer a different flavor of Mallorca, making the island perfect for every type of walker.
Below, you’ll find a quick overview of our top three picks, each tailored to specific interests and walking styles. Whether you want a city stroll, a historic exploration, or a nature adventure, these tours will give you a taste of Mallorca’s authentic charm.
1. Palma de Mallorca Private Guided Walking Tour
At number one, this private tour offers an intimate and flexible way to uncover Palma’s diverse history. Over 1.5 hours, you’ll stroll through narrow medieval streets, marvel at Moorish remnants, and see iconic landmarks like the Palma’s historic Ayuntamiento and the Arab Baths.
This tour is ideal for travelers who want a deep, personalized introduction to Palma, with the flexibility to focus on what interests them most. The guide’s knowledge helps bring to life the city’s story—from Talayotic tribes to modernist architecture. Guests have rated it 5 out of 5 based on four reviews, praising its insightful commentary and efficient pacing. For an affordable yet rich experience, this tour is up to 15 people for $269, making it a good value for a private group.
What makes this tour stand out is its carefully curated highlights—visiting the Gothic Convent of San Francisco and the Museum of Mallorca’s treasures—which pack a lot of history into a short walk. The most critical part: it’s perfect for travelers with limited time who want a comprehensive, engaging city overview.
Bottom Line: If you’re after a personalized, history-rich walk with a knowledgeable guide, this private Palma tour delivers excellent value and depth, especially for first-time visitors.
2. Discover Alcudia’s Hidden Gems: Walking Tour of the Old Town
At number two, this guided tour in Alcudia offers a 90-minute exploration of one of Mallorca’s best-preserved medieval towns. For only $29 per person, you get a guided walk that covers stunning views from atop Alcudia’s medieval walls, along with the gothic Church of Sant Jaume and charming cobbled streets filled with cafés and shops.
The tour begins at Passeig de Pere Ventanyol and includes a 30-minute walk around the city walls, followed by a more detailed 55-minute visit inside Old Town. The guide shares local secrets, making this more than just a sightseeing walk. The reviews are stellar, rating it 4.8 out of 5 based on five reviews, with travelers praising the knowledgeable guide and the scenic views. The short Market Photo stop adds a lively local flavor before heading back.
This tour is especially good for travelers who want a compact, affordable way to get a feel for Alcudia’s history and atmosphere in a short time. It’s accessible for most fitness levels and ideal for those who enjoy picturesque streets and panoramic views.
Bottom Line: If you’re in Alcudia and want to soak up its medieval charm without a long commitment, this tour offers outstanding value and a personable guide.
3. Felanitx: The Hidden Side of Mallorca Walking Tour
At number three, this 3.5-hour easy walk takes you beyond the tourist spots into Felanitx’s peaceful countryside and secret caves. It’s a gentle trek into the abandoned marés stone quarry, where tunnels, caves, and quiet hideaways create a fairy-tale atmosphere.
This tour emphasizes nature and discovery, perfect for travelers who want to combine walking with a sense of adventure. It’s suitable for most fitness levels, as the walk is described as “easy,” but it promises plenty of surprises, including caves and possibly caves with tunnels to explore. The tour’s highlight is venturing through these tunnels and caves, with a guide who shares stories about the quarry’s history and the local landscape.
While specific reviews aren’t provided, the description suggests a unique outdoor experience that differs from typical city or historical walks. It’s best suited for those who love nature, small-group adventures, and exploring Mallorca’s quieter, less-visited spots.
Bottom Line: For a truly different Mallorca walk—one that feels like stepping into a fairy tale—this Felanitx tour delivers a relaxed yet intriguing outdoor experience.
How to Choose Your Perfect Mallorca Walking Tour
When selecting your ideal walking tour in Mallorca, consider what kind of experience excites you most. Budget-conscious travelers might prefer the Alcudia Old Town tour for its low price and scenic views. If you’re after a deep dive into city history, the Palma private tour offers a personalized, detailed experience, especially if you’re short on time. For those who crave a nature adventure with caves and quiet paths, the Felanitx walk provides a peaceful, storybook setting.
Think about your fitness level—most of these tours are suitable for the average traveler, but the Felanitx walk is the most relaxed in terms of terrain, while Palma’s tour is shorter and more urban. Booking early is advisable, especially in peak season, to secure your preferred time slot and ensure a spot on these popular walks.
Final Thoughts
Mallorca’s variety of walking tours means there’s something for all. For a rich culture, the Palma private tour offers a thorough introduction to the city’s layered past. If you prefer a charming, scenic stroll with a local guide, Alcudia’s Old Town walk is hard to beat. And for the adventurous spirit, the Felanitx nature trek will surprise and delight.
Each of these options provides a different window into Mallorca’s soul—whether through history, scenery, or quiet discovery. We recommend booking early, especially for the private and small-group experiences, so you can enjoy the best possible walk on this beautiful island.