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From Madrid the best route to take is the A-4 until Jaen, continuing through the A-44 to Granada and then take the A-92 to Malaga. From here, you can take the coast highway, the A-7, until you reach exit 119, and right here you can already view the signposts to Gibraltar. The whole trip from Madrid is of about 660 km and it usually takes around 6 and a half hours in your Madrid car hire.
Another option is to come in a Barcelona car rental, through highway A-7 which runs all the way around the Mediterranean line. All you have to do is reach exit 119, note that the distance is 1100 km…
If you’re coming from Seville the best practice is to take the AP-4 all the way to Jerez de la Frontera and from there, take the A-381 until you reach Algeciras. In Algeciras you can use the A-7, and leave it just before exit 118, where you will see signposts to Gibraltar.