One of the places I have visited on my holidays was the city of Avila, Spain.
Avila is a medieval walled town and it just takes one hour to get there driving from Madrid. I used to go every summer when I was a child, but since then I hadn't gone. I like to walk around the centre, inside the walls, I love the Plaza Mayor (Main Square) and all the bars and restaurants served delicious food.
I will highly recommend a visit! You can plan your trip in the town official website.