The drone light show has been organised by hotel chain Sercotel to celebrate its 30th anniversary.
More than 86,000 members of the public are expected to attend the tourism fair in the following days, with 8,500 exhibitors present.
The event is hosted by IFEMA Madrid.
Earlier this week, it was announced that the city will stage the Spanish Grand Prix in Formula 1 from 2026 under a new 10-year deal.
The new 5.47km track is set to be built around the IFEMA convention centre and Real Madrid’s training complex, with both street and non-street sections.
Local promoters have agreed a 10-year deal with the sport, meaning it will host the race until 2035.