What the rule says, in short

Foreign or rental car

A car registered outside Spain does not always appear in the Spanish file: there is a free procedure to register your vehicle with the DGT and obtain the matching sticker. For a Spanish rental car, the rental company is responsible for the sticker, but a fine can be passed on to you with fees: ask about the terms. See car rental at the airport and car rental from a station.

Without a car: how to manage

Madrid is easy to visit without a car: metro, bus, taxi and commuter trains cover the centre and the airport (transport). From the airport, a private transfer removes any ZBE question: the driver knows the rules and drops you near the hotel. See also from the airport to the centre.

Going further

If you rent anyway, favour a rental for excursions outside Madrid, picking the car up outside the zone.