Private Sintra & Cascais Tour from Lisbon: Pena Palace Included

A full day in Sintra without the logistics: your guide handles the route while you walk through palaces and coastal cliffs.

A private guided day trip from Lisbon to Sintra and Cascais with hotel pickup, a local guide, and Pena Palace entry included. The tour covers the Serra de Sintra mountains, Pena Palace interior and park, Sintra's historic center, Cabo da Roca (mainland Europe's westernmost point), Boca do Inferno, and a 30-minute stop in Cascais. Choose between Pena Palace alone or add Quinta da Regaleira with its gardens, hidden tunnels, and Initiation Well. Lunch is not included but a stop in Colares village allows time to eat at a local restaurant. Groups stay under eight people per vehicle. Larger bookings split across multiple cars.

Step-by-step itinerary

Stops and time at each

1. Castle of the Moorspass by
2. Pena National Palace1h 30m · entry included
3. Sintra45m
4. Quinta da Regaleira1h 30m
5. Cabo da Roca30m
6. Boca do Inferno30m

Private day trip to Sintra and Cascais

• Pass through Serra de Sintra
• Visit Sabuga Fountain
• View Moorish Castle from distance
• Visit Pena Palace interior and park
• Walk in Sintra’s historic center
• Optional visit to Piriquita pastry shop
• Stop for lunch in Colares village
• Visit Cabo da Roca viewpoint
• Drive past Guincho Beach
• Visit Boca do Inferno rock formation
• Stop in Cascais historic center

The experience

The day starts with pickup at your Lisbon hotel and a drive through the Serra de Sintra, a protected landscape of green hills and ancient rock formations. Along the mountain road, you'll see the Moorish Castle's silhouette stretching across the hillside: a distant view that frames the region's layered history without a stop. Your guide shares context throughout, but the pace is yours to set.

Pena Palace is the centerpiece: your Essential Ticket grants access to both the palace interior and the surrounding park. The guide walks you through the terraces and grounds, then you explore the palace rooms at your own speed. Afterward, free time in Sintra's historic center lets you wander narrow streets, browse artisan shops, or stop at Piriquita, a pastry shop open since 1862 serving local sweets, though food is on your own bill. If you've chosen the two-monument option, Quinta da Regaleira comes next: a 19th-century estate with symbolic gardens, hidden tunnels, and the famous Initiation Well that descends into the earth. Your guide provides support here too, but the interior is yours to explore.

The afternoon pivots to the coast. A lunch stop in Colares, a traditional village surrounded by vineyards, gives you time to eat at a local restaurant with Portuguese fish, meat, and vegetarian options. Then comes Cabo da Roca, the westernmost point of mainland Europe, where dramatic cliffs meet the Atlantic: the views and photo stops here are the reason this stretch is on the itinerary. You'll drive past Guincho Beach (no stop), then reach Boca do Inferno, where waves crash into a sea cave carved into the rock face, creating a powerful spray when the Atlantic is rough. The tour ends with 30 minutes in Cascais, a coastal town with a historic center and bay views, before the drive back to Lisbon.

Transportation is in an air-conditioned vehicle holding up to eight people. Larger groups split smoothly across multiple cars. Your guide speaks English, Spanish, or Portuguese depending on your booking. Hotel pickup and drop-off are included at any Lisbon address, plus Cascais or Sintra if that's where you're staying: airport pickups are also available. All insurance is covered.

What’s included

• Hotel pickup and drop-off in Lisbon, Cascais, or Sintra.
• a local guide in English, Spanish, or Portuguese accompanying you throughout.
• transportation in an air-conditioned vehicle for up to eight people.
• Pena Palace and park entry ticket (Essential Access).
• all insurance.

Options for this experience

2 options

Guide in English, Spanish or Portuguese09:00

Guide in English, Spanish or Portuguese09:00

You pick the guide language when booking. Options with the same name differ in details you'll see when you pick a date.

You see the exact price of each option when you check availability.See dates & prices

Before you book

Days and timesEvery dayDeparts at 09:00

AgesAdult (18 and older) · Child (6 to 17 years) · Infant (under 6): free

Meeting point and pickupHotel pickup included.

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

Prices and times updated today

Good to know

Easy physical levelWheelchair accessibleAccessible transportStroller friendlyInfant seats availablePets welcomePublic transport nearby

Operated by Ó turista! Tours and trips

Is this one for you?Book the two-monument option if you want to see both Pena Palace and Quinta da Regaleira's gardens and hidden tunnels in one day: the extra time and guided support at Regaleira make the fuller Sintra experience possible. The standard option works if Pena Palace alone is your priority and you'd rather spend more time in Cascais or Sintra's town center.

Traveler reviews

4.95★★★★★★★★★★

353 verified traveler reviews

5 ★341

4 ★10

3 ★0

2 ★1

1 ★1

Read all the reviews ›

Top questions

What languages is the guide in?

Live guide in English, Spanish and Portuguese.

Can children come?

Yes. Ticket types: Child (6 to 17 years); Infant (under 6): free.

What's the difference between the Pena Palace option and the two-monument option?

The standard option includes Pena Palace and park entry only. The two-monument option adds Quinta da Regaleira with its entrance ticket, interior access, extra tour time, and guided support at the estate, so you see both palaces instead of one, and the day runs longer to fit both in.

Is lunch included in the tour price?

Lunch is not included, but the tour stops in Colares village, a traditional area with vineyards and local restaurants where you can order Portuguese cuisine: fish, regional meat dishes, and vegetarian options are typically available. You pay separately for what you eat.

Do I walk inside Pena Palace, or does the guide show me around?

Your guide walks you through the palace terraces and park, explaining the history and architecture, but the palace interior is self-guided. You explore the rooms at your own pace once you're inside.

What is Boca do Inferno and why is it worth seeing?

Boca do Inferno, "Mouth of Hell", is a dramatic rock formation on the Cascais coastline where waves crash into a sea cave carved into the cliffs. When the Atlantic is active, the water explodes through the opening in a powerful display, making it one of the most striking natural spectacles along this stretch of coast.

Can I book a pickup from Lisbon airport instead of my hotel?

Yes, airport pickups in Lisbon are available. Hotel pickup and drop-off are included at any Lisbon address, Cascais, or Sintra depending on where you're staying or departing from.

How many people travel together on this private tour?

The vehicle holds up to eight people maximum. If your group is larger, the tour splits across multiple vehicles so everyone stays comfortable and gets the same guide experience.