A compact Madrid day using the art triangle, Retiro, historic squares, and relaxed evening food stops.

Start with a focused route through the Prado before crowds build, choosing a few rooms rather than the whole collection.
Walk to the Royal Palace, then into Plaza Mayor and the old-town streets for lunch and a slower exploration of central Madrid.
Reset in Retiro Park late afternoon, then move into a tapas crawl. Madrid’s evenings are long, so let dinner stretch out.