The short answer is no, tipping is not expected. You can round the bill up to the next Euro if you want. In some places service charges may be included with the bill, but it isn’t common.
I found this online a couple years ago. It is for information only and not set in stone.
Cafe Server: If there is a tip jar by the cash register, it’s a nice gesture to leave a couple of coins. For exceptional table service, round up to the nearest €1.
Restaurant Server: It is not customary to tip at a cheaper restaurant, ‘menu del dia,’ but a tip of up to 10 percent is acceptable at more upscale establishments. The tip is sometimes included in the final bill (IVA or Impuestos sobre el Valor Añadido), but not always. Check the bill first for these inclusions before deciding what to tip. Servers sometimes don’t receive tips included on a credit card, so always try to tip in cash whenever possible.
Bartender: It’s not necessary to tip a bartender, as most do not expect it and some may even refuse it. Table service, however, is considered to be separate, and it is considerate to round to the nearest €1 for great service.
Taxis: A tip isn’t expected, but is appreciated. A good rule of thumb is to round up to the nearest euro or up to 10 percent of the final fare for exceptional service. Drivers typically charge a bag fee, so there is no need to tip for help with luggage.
Airport Shuttle: It is not necessary to tip your driver, but feel free to give €1 per bag if they help with your luggage.
Doorman: Gratitude is always welcome when a doorman assists with luggage or hailing transportation. A simple thank you is appreciated, but feel free to offer €1 for exceptional service.