Seeking opinions of a day trip from Madrid. We are a mature couple interested in history, architecture, museums, etc. No car. Thanks.

Cuenca and it's hanging houses are interesting, but it will depend on what you are interested is seeing. Toledo is a popular destination, but Cuenca has the Cathedral of Santa María de Gracia, Museo Diocesano Catedralicio, Museo de Arte Abstracto, Fundación Antonio Pérez and the Museum Fundación Antonio Saura, all worth seeing (from www.maribelsguides.com/mg_madrid.pdf).

Cuenca is good for a day trip from Madrid to see the hanging houses and the cathedral.

But, if your haven't been to Toledo yet then, without a doubt, Toledo!!! Loved, loved, loved Toledo! Spent 3 nights there. Highly recommend it.

Like joannyc, Toledo would be my choice, but like her, I wanted at least 2 full days there. Many people visit it as a day trip from Madrid, though -- it really depends on what you want to see and do.

Other common choices are Segovia, Avila, and El Escorial.

All can be visited without a car.

If these places are not covered in your guidebook, then I strongly encourage you to get a better one. The cost will be nugatory in comparison to the cost of your trip, and you will find answers to not only this question, but also the questions you don't even know you need to ask.

Good luck!

Now that the AVE stops at Cuenca, it has become a reasonable day trip from Madrid. It is a unique city with its hanging houses, while Toledo offers more art and history. Both are a bit hilly.