New World Cup champions Spain have enjoyed a vibrant celebration parade on an open-top bus through the streets of Madrid, with a jubilant crowd of an estimated two million people out to celebrate, according to local authorities.

The players 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, before arriving at Cibeles square.

After flying back from the United States, the players were received by King Felipe VI and the royal family, and then Spanish Prime Minister Pedro Sanchez.

A historic second star for La Roja

Players passed around the gleaming World Cup trophy and waved to their adoring supporters, 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 the stars.

"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 trophy aloft as he descended from the plane.

Later at Moncloa, the Manchester City midfielder said this was the crowning achievement of his career.

"Winning with your country is the most beautiful thing there is, above all a World Cup," said Rodri.

"This generation grew up watching Casillas and Iniesta lift the cup and that we can do it today is the biggest thing you can do in football."

Torres celebrates whilst Messi mourns

Match-winner Torres joked he was "flying, literally" after returning from the US.

"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.

The parade started at Moncloa before heading towards Cibeles square, where a ceremony involving the players will be held along with musical acts.

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.

Looking ahead, Prime Minister Sanchez said: "Why not dream of a third in 2030, especially with Spain as hosts?"

Meanwhile, Argentina's Lionel Messi 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," Messi wrote on Instagram.

In Madrid, tears also flowed, but they were tears of joy.