1. Metro: The Madrid Metro is the fastest and most efficient way to navigate the city. With an extensive network of lines and stations, it provides easy access to all major tourist attractions.

2. Bus: Madrid has a well-connected bus system that covers both central and suburban areas. Buses are a great option for exploring neighborhoods and areas not served by the metro.

3. Walk: Madrid is a pedestrian-friendly city with many attractions within walking distance of each other. Exploring on foot allows you to soak in the vibrant atmosphere and discover hidden gems along the way.

4. Bike: The city has a growing network of bike lanes and is equipped with several bike-sharing schemes. Renting a bike is a convenient and fun way to explore Madrid, especially in parks and along the river.

5. Taxi: Taxis are readily available in Madrid and can be hailed on the street or found at designated stands. They are a comfortable and quick option, especially for shorter journeys or when carrying heavy luggage.

6. Train: If you plan to visit nearby towns or cities, the train is a convenient mode of transportation. Madrid's main railway station, Atocha, offers connections to various destinations throughout Spain.

7. Car: Renting a car is recommended if you plan to explore the outskirts of Madrid or want the freedom to venture further afield. However, keep in mind that parking can be challenging in the city center.

Remember to check for any travel updates or specific restrictions in place during your visit.