The Royal Site of San Lorenzo de El Escorial (or Monasterio y Sitio de El Escorial en Madrid) is a residence of the King of Spain and a former Augustine monastery. The huge palace complex sits 28 miles away from Madrid and visitors can see the impressive Basilica, an art gallery, a museum of architecture, and the palace’s incredible library. There are also formal gardens to explore. The complex is a great place to visit on a day trip from Madrid, and you can choose between a guided tour and an audio guide.