I wouldn't say Madrid is the first. I live in Ghent (Belgium) and only taxis and public transit are allowed in the city centre. In Antwerp only cars with low emissions are allowed in the city centre, or have to pay iirc.
Ghent is awesome to live in thanks to this, everyone bikes everywhere when you live in Ghent regardless. There also are a ton of UberEATS, Deliveroo, Takeaway, and Bubblepost (post delivered by bike) in the city centre.
Another example is Groningen in The Netherlands where roughly 60% of the journeys within the city are by bike [1] and cars are banned from the city center.
> In 1977, the traffic circulation plan was implemented over a single night. Hundreds of new signs were put up to create one-way streets or change their direction. Overnight, the centre of Groningen became impenetrable for cars. The next morning, hostesses greeted confused motorists with flowers and leaflets that explained the new situation.
It’s quite impressive what they did. They divided the city into 4 sectors and it’s impossible to get from one sector to another without using the motorway around the city, which lengthens these trips. Bicycles can travel freely.
Indeed, the city centre is (nearly) free from cars here, and that is great.
However, the 'traffic circulation plan' is a horror. There are so many one-way streets without a logic to it, that finding your way is near impossible. Really, without some navigation system, there is no navigating the smaller streets here.
I recall hearing (no source sadly) that is was one of the first 'calculated' traffic plans. Apparently, that calculation didn't take robustness of the solution into account.
The policy against cars is great, but the 'traffic circulation plan' really isn't. There is a long standing plan for light rail transport, but a lot of resistance from those living near the proposed rail.
Most Dutch cities have automatic gates, so that kind of traffic, we call it 'destination transport' for some reason, can use a remote control to open the gates and enter the city. For example police and ambulances can also enter the city.
Of the moderate size cities I've recently been to only Amsterdam still allows regular traffic in its center, and I think that's because it has such a large center for a Dutch city. You can't really park at the edge and then walk in.
Ghent is awesome to live in thanks to this, everyone bikes everywhere when you live in Ghent regardless. There also are a ton of UberEATS, Deliveroo, Takeaway, and Bubblepost (post delivered by bike) in the city centre.