Cenicientos is a municipality in the Community of Madrid, Spain. It is located in the southwesternmost end of the region. The municipality covers an area of 67.49 km2. As of 2018, it has a population of 1,980. The urban settlement is located on the spurs of the Sistema Central, next to the Peña de Cenicientos, a small mountain range separated from the main range of the Sierra de Gredos and with continuity in the Sierra de San Vicente.