Lisbon, Sintra & Cascais Private Tour: Pena Palace & Cabo da Roca

Stand at Europe's westernmost point, then explore three coastal towns in a single day from Lisbon

A private full-day tour of Lisbon, Sintra, Cabo da Roca and Cascais with hotel or airport pickup in a premium Mercedes-Benz vehicle and an English-speaking driver. You visit Jerónimos Monastery and Belém Tower in Lisbon's historic quarter, then travel to Sintra to explore Pena Palace and the UNESCO-listed village centre, stand at Cabo da Roca overlooking the Atlantic, and finish in the seaside town of Cascais before returning along the scenic Estoril coastline. An Official Licensed Guide is available as an option to lead the tour and share Portugal's history and heritage. Without it, you travel with the driver and explore at your own pace.

Step-by-step itinerary

Stops and time at each

1. Jerónimos Monastery15m
2. Belém Tower15m
3. Monument to the Discoveries15m
4. Pena National Palace2h · entry included
5. Sintra1h
6. Cabo da Roca30m

Explore Lisbon, Sintra and Cascais

• Pick-up in Lisbon by premium vehicle
• Visit Jerónimos Monastery
• See Belém Tower
• View Monument to the Discoveries
• Tour Pena Palace
• Free time in Sintra village
• Admire views at Cabo da Roca
• Explore Cascais seaside town
• Return to Lisbon via Estoril coastline

The Experience

Jerónimos Monastery opens the day: a 17th-century UNESCO site and the finest example of Manueline architecture, with facades and cloisters that define Portuguese Gothic. From there, Belém Tower sits on the Tagus riverbank where the age of exploration began, followed by the Monument to the Discoveries, a 52-meter stone caravel honouring the historical figures of Portugal's maritime expansion. Both stand in Lisbon's Belém district, the heart of the city's connection to its seafaring past.

The route then heads inland to Sintra, where Pena Palace rises as one of Europe's finest Romantic buildings. If you choose the option with an Official Licensed Guide, they walk you through its history. Otherwise, you have free time to explore the palace and the charming UNESCO village around it, where local cafés and shops selling Sintra's famous pastries (Travesseiros and Queijadas) line the streets. From Sintra, the drive continues to Cabo da Roca, mainland Europe's westernmost point, where Atlantic views stretch to the horizon and the light changes constantly across the water.

The return journey passes through Cascais, an elegant seaside town where you can walk the historic centre and marina before heading back to Lisbon along the scenic Estoril coastline. The entire route covers eight hours in a recent-model Mercedes-Benz or equivalent, with every detail arranged for your private group. Hotel, airport, cruise terminal or train station pickup is included, and the driver speaks English. Additional languages (Spanish, Italian, French and one more) are available depending on the guide option you select.

What’s included

• Private transportation in a recent-model Mercedes-Benz or equivalent with air conditioning.
• hotel, airport, cruise terminal or train station pickup and return.
• professional English-speaking driver.
• entry to Jerónimos Monastery, Belém Tower and Monument to the Discoveries in Lisbon.
• free time to explore Pena Palace and the Sintra village centre.
• stop at Cabo da Roca.
• time to walk the Cascais historic centre and marina.
• scenic return along the Estoril coastline. An Official Licensed Guide in English, Spanish, Italian, French or another language is available as an optional upgrade to lead the tour and provide historical and cultural insights.

Days and timesDaily

Meeting point and pickupHotel pickup

Cancellation and refundsFree cancellation up to 24h before the start. After that, no refund.

Prices and times updated today

Good to know

Moderate physical levelPets welcomePublic transport nearbyNot for heart conditionsNot for back problems

Operated by TOPTOUR PORTUGAL®

Is this one for you?Hotel or airport pickup means you don't arrange transport to the starting point, which matters if you're without a rental car or unfamiliar with Lisbon's traffic. The eight-hour route fits all four destinations (Lisbon's monuments, Sintra's palace and village, Cabo da Roca and Cascais) into a single day, so you see the region's highlights without splitting the journey across multiple bookings.

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Top questions

What languages is the guide in?

Live guide in English, Spanish, French, German and Italian.

What is Jerónimos Monastery and why does the tour start there?

Jerónimos Monastery is a 17th-century UNESCO World Heritage Site in Lisbon's Belém district and the greatest example of Manueline architecture, also called Portuguese Gothic. The tour opens there because it represents the height of Portugal's artistic achievement during the age of exploration, with distinctive facades, a church and cloisters that define the period.

Can I visit Pena Palace on my own, or does the guide take me through it?

You have a choice. If you select the option with an Official Licensed Guide, they lead you through Pena Palace and explain its history and architecture. Without the guide option, you have free time to explore the palace independently at your own pace.

What happens at Cabo da Roca?

Cabo da Roca is mainland Europe's westernmost point, standing on a clifftop overlooking the Atlantic Ocean. The tour stops there for you to admire the views and take photographs. It is one of the most dramatic vantage points on the Portuguese coast.

Does the tour include lunch or drinks?

Lunch and beverages are not included in the tour price. You have free time in Sintra's village centre where cafés and restaurants are available, and time in Cascais where you can eat before the return to Lisbon.

How does pickup work if I'm staying at different places in Lisbon?

Pickup is included from your hotel, airport, cruise terminal or train station: anywhere in Lisbon you specify when you book. The driver collects you in the premium vehicle at your chosen time and returns you to the same location at the end of the eight-hour tour.