Lisbon: Sintra, Pena Palace, Cape Roca & Cascais - Guided Tour

Highlights

Inclusions

Itinerary

1. The Pena Palace and Park, in Sintra, make a fantastic day trip from Lisbon. The colorful 19th-century Romanticist castle sits high up on a hill with stunning panoramic views out to the ocean and is a highlight for many visitors to Portugal.

   3 h

2. Moving forward through the road of Pena towards Penedo, a charming village in the Serra de Sintra (Sintra Mountain), absolutely out of the touristic circuits that will surprise you.Accompanied by the wonderful landscape of the National Park of Sintra-Cascais and the marvelous views of the Castelo dos Mouros (Moorish Castle) and of the Palácio da Pena (Pena Palace), which is always in your field of vision wherever you go

   2 h

3. Cascais is the premier holiday destination of the Lisbon coastline. This is a traditional and charming Portuguese fishing town, which has responsibly developed into a popular resort town.

   2 h

4. Estoril is a stylish and sophisticated resort town, on the beautiful Costa do Estoril coastline. The town strikes the perfect balance between Portuguese charm and outstanding tourist facilities, to create the ideal destination if you want more than just great beaches for your holiday.

   30 min

5. Cabo da Roca

   30 min

Cancellation

Free cancellation up to 24 hours before the experience starts, for a full refund.

Reviews

Ratings come from 1,784 reviews collected by our booking partner. They are travellers' own words, in the order they were written — never reordered to flatter the experience.

Showing reviews written in English.

• 5Great but hilly tour of Lisbon

  Truly gave a good sense of the area and history around Lisbon. Marcos was exceptional! He used WhatsApp to keep us together and on time, all the while providing nuggets of history. Would definitely take this tour again, though it is a LOT of hilly walking. Not the best for someone with leg or hip conditions.

  Odyssey35693256483September 2026via Tripadvisor

• 5Would highly recommend to everyone

  Clay (Driver) and Marcos the tour guide were excellent throughout the day. Shared lots of knowledge about history and the area, also gave suggestions on what to see and do.

  H5902FXlogansSeptember 2026via Tripadvisor

• 5Day trip: Sintra, Cabo Da Roca, Cascais, palace of Pena, Regaleira

  We took the day trip to Sintra and it was very good experience that I surely do it again! Our guide Marcos explained us everything with all the information that we need and even some details that was on spot. We had the opportunity to admire some of the most beautiful landscapes in Portugal and with the help of Marcos and Clay our bus driver our experience was unique. I highly recommend it!!!

  _J5651GJSeptember 2026via Tripadvisor

• 5Amazing, good value for money, covering so many wonderful areas in Portugal

  It was very good value for money. We visited so many wonderful places. Marcos, our guide was very helpful, kind and experienced. He told us a lot about Portuguese history.

  deathstr0kemSeptember 2026via Tripadvisor

• 5Amazing time

  Marcos was very kind a very smile person and the Driver Clei did a wonderful job.

  graceaZ5788PSSeptember 2026via Tripadvisor

• 5Sintra on my last day in Lisbon

  The tour was great n Liedson our tour guide was very informative during our stops at each location. Our driver was great too.

  davidcG8559UFSeptember 2026via Tripadvisor

Know before you go

How it compares in Lisbon

• Its from-price is 64% below the median of the 629 city tours we list in Lisbon.
• It is longer than most of them.
• By number of reviews it ranks 10 of 629.
• The operator lists free cancellation on it.

About Lisbon

Lisbon spills down its hills to the Tagus estuary, a city of tiled façades, rattling yellow trams, viewpoint terraces and late, unhurried dinners.

The old quarters hold most of the charm. Alfama's tangle of lanes climbs to São Jorge Castle and echoes with fado in the evening, the Baixa's orderly grid runs down to the vast Praça do Comércio on the river, and Bairro Alto and Chiado mix bookshops and cafés by day with bars by night. Viewpoints such as Santa Luzia and Senhora do Monte frame red rooftops and shining water.

Top-ranked sights in Lisbon: Commerce Square (Praça do Comércio), Pena National Palace (Palacio Nacional da Pena), Alfama.

See all 4320 experiences in Lisbon