If you want to see Madrid from a bird's eye view, take the cable car ("el Teleférico") that was originally built as part of the Parque de Atracciones amusement park. The journey starts on the Paseo del Pintor Rosales street, near the Argüelles Metro station, and takes you over the River Manzanares and into the Casa de Campo park.
The cable car carries you above the city's parks and the Manzanares River in the distance, as a recorded commentary describes what you are looking at. You'll be seeing attractions such as the Plaza de España and the Egyptian temple of Debod from a completely different perspective, as well as taking photos from several other angles.