The players, some shirtless, others holding drinks, set off on their procession under a blazing sun, along the main arteries in the city centre where a sea of fans in red and yellow were waiting, with the destination Cibeles square.
After flying back from the United States to Madrid, the players were received by King Felipe VI and the royal family, and then Spanish Prime Minister Pedro Sánchez, before kicking off the parade.
Players passed around the gleaming World Cup trophy and waved to a sea of delighted Spain fans in red and yellow, the day after defeating Argentina 1-0 in extra-time in New Jersey.
Ferran Torres's strike in extra-time was enough to bring Spain their second World Cup, following a first victory in 2010.
"You have shown your grit, your resilience and your courage, always backed by your technical skill, your control and command of the game, combining head and heart," the king told La Roja's stars, who were dressed in suits but changed to more casual clothing for their parade on a hot summer's day.
"Kings of the world" ran the words on the front of their vehicle, with fans chanting "champions" to their heroes.
Spain captain Rodri held the World Cup trophy aloft at the top of the stairs as he descended from the Iberia plane that flew the team home after clinching their second star.
Later at Moncloa, Manchester City midfielder Rodri said this was the crowning achievement of his career.
"I've always said it, winning with your country is the most beautiful thing there is, above all a World Cup," said Rodri.
"This generation grew up watching (Iker) Casillas and (Andres) Iniesta lift the cup and that we can do it today is the biggest thing you can do in football."
Many younger supporters were not yet born when Iniesta's extra-time goal against the Netherlands secured Spain's first World Cup in South Africa 16 years ago.
Match-winner Torres joked he was "flying, literally" after the team returned from the United States after beating Argentina in New Jersey.
"I'm very happy to see how excited all of the children are... (and) to have the parade and celebrate with all of the Spaniards," he added.
Destination Cibeles
Spain's World Cup winners bus parade started at Moncloa before heading towards Cibeles square, where hordes of fans had reserved their spots hours in advance.
A ceremony involving the players and a concert will then be held at the square, the traditional gathering point for celebrations by the Spanish national team and its supporters. Over 120,000 people were estimated to be waiting there.
Spain's women's side won the World Cup in 2023, meaning for the first time a country has both trophies at the same time.
In 2030, Spain will defend their crown on home soil, as one of the World Cup hosts along with Portugal and Morocco.
"It's two for two," said Prime Minister Sánchez, of Spain's record in World Cup finals. "Why not dream of a third in 2030, especially with Spain as hosts?"
The Spanish press was running out of superlatives to describe its heroes after they overcame favourites France in the semi-finals before downing Argentina.
"The kings of all-time!" wrote Marca, celebrating a "second star that will now be stitched onto the Spanish jersey after yet another masterclass in collective play."
Argentina, despite the presence of all-time great Lionel Messi, failed to create clear chances against Spain's well-organised and more positive side in the final.
Messi had a sensational World Cup but drifted through the final like a ghost, shedding tears at the end.
"The pain is immense, and it's going to be hard for this wound to heal," wrote Messi on Instagram.
In Madrid, tears also flowed on Monday night, but they were tears of joy.
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