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 km<sup>2</sup>. , 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 (1,252 m), a small mountain range separated from the main range of the Sierra de Gredos and with continuity in the .