My last holidays

In Paris we have gone to visited the Eiffel Tower, it is fantastic to see to the people walking for in the street. In Madrid we went have been to buy clothes and presents for you and for our parents, and we ate have eat in great restaurants
Finally we went to Barcelona, there we were there 5 days, and we often had lunch on the beach/in the Beach*. The weather is hot and sunny in August, so, we have been down were in the sun all time for as long as possible.

*  'in the Beach'  suggests a bar, café or restaurant called  'The Beach'

Since you are writing about something you did last summer, some time ago, you should use the simple past [tense]  'I was, we were, etc., rather than the present perfect  'I/we have been, have done, etc'.

The last summer, I have gone traveling around Europe. I was in Paris, Madrid and Barcelona and in other little villages along the way.

I have been for 2 months traveling, from July to August. In each place, we have been staying about 3 or 4 days. It has been a wonderful trip. Carlos and I have drove about 5000 km each.

In Paris, we had gone to visit the Eiffel Tower. It was fantastic to see to the people walking on the street from the tower. In Madrid, we went to buy clothes and presents for ourselves and our parents. We have also been eating at great restaurants.

Finally, we went to Barcelona, for 5 days, we often had lunch at the beach. The weather is hot and sunny in August, so we have been under the sun many times.