Spanish route map 

About-Spain.net - a traveller's guide to Spain 
Autovia

  Route planning map of Spain - main routes and towns

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Map by About-Spain.net enhanced from an original from the open-source OpenStreetMap.org.
Madrid motorway map by Faelomx, reproduced under Creative Commons licence
► ► Road map of Spain
The map below shows the main towns and cities of Spain, the Spanish motorway network  – autovias and autopistas – in blue or red, and other main roads in green. Free motorways are shown in blue,  Spanish toll motorways are shown in red.
See below for best route avoiding Spanish tolls
Road map of Spain 
To the south of Spain avoiding the tolls
► Click here for No-tolls route to the south of Spain
► Click here for alternative Spanish routes avoiding tolls
► See also Motorway map of France

Madrid motorwaysMain toll motorways in Spain:
AP1 - Irun (French border) to Burgos (Car toll 2012 : 20.35 € )
AP2 - Barcelona to Zaragoza  (Car toll 2012: 25.5 €)
AP7 - La Junquera (French border) to Alicante (with some free sections - Car toll 2012 : 58.75 €)
AP68 - Zaragoza to Bilbao
AP8 -  San Sebastian to Bilbao
AP9 -  Ferrol (north of A Coruña)  to Vigo

Motorways in the Madrid area
Madrid is a maze of motorways, and unless you really want to drive into Madrid, then the best bit of advice is "Don't".  The M50, which is just visible in the bottom corner of this plan, goes 80% of the way round Madrid, and is the outer orbital motorway - and for this reason less busy than the M30 or M40.
   Most motorways in the Madrid urban area are free, but the radial "R" motorways are toll, as are some of the M motorways - but not the orbitals.
For a detailed zoomable online maps of Spain, AboutSpain.net recommends  ViaMichelin

Some useful sources of accommodation information: