In addition to its extensive heritage, Arenas de San Pedro is an interesting tourist destination thanks to its famous caves "Cuevas del Águila", discovered in 1963, and located six kilometres away from the town.

In the city centre we see the remarkable castle of Triste Condesa (the Sad Countess), with a great keep; the Gothic 16th-century church of Nuestra Señora de Asunción, with a splendid belltower; and the palace of the Infante Don Luis de Borbón. It is also essential to visit the sanctuary of San Pedro de Alcántara, from the 16th century, declared a Historic-Artistic Heritage in 1972. Located three kilometres away from Arenas, this sanctuary was remodelled in the 18th century, following the plans of architect Ventura Rodríguez, who erected a magnificent funerary chapel. In the orchard there is a thornless rosebush that, legend says, is a miracle performed by San Pedro de Alcántara. The museum in the Royal Chapel exhibits an interesting collection of liturgical precious metalwork.