Lisbon to Sintra: Pena Palace, Regaleira & Cascais Day Trip

Summary

Sintra palaces, secret gardens, and the wild coast from Lisbon

You’ll wander Sintra’s palace gardens with a local guide, taste warm Travesseiro pastry in medieval streets, stand at windswept Cabo da Roca where Europe ends, and relax by Cascais’ coast before heading back to Lisbon — all with pickup included and plenty of small surprises along the way.

What’s the experience like?

“You’ll need comfortable shoes,” our guide Joana said, right as we tumbled out of the van in Sintra. She was grinning — you could tell she’d done this a hundred times but still found it funny when tourists (like me) underestimated those cobbled hills. The air smelled damp, like moss and pastry sugar, and even though I’d seen pictures of Pena Palace before, the real thing looked way more… odd? All those colors stacked on a misty hilltop. We wandered through the park first — Joana pointed out trees from Japan and Brazil (never would’ve guessed), and there was this weird silence under the pines except for some magpies arguing overhead.

I tried to say “Travesseiro” at a bakery in Sintra’s old town — the woman behind the counter smiled politely but I’m pretty sure I butchered it. The pastry itself was warm, flaky, sweet with almond cream inside. We had some free time so I just sat on a bench near Regaleira’s gates watching people take selfies with that mysterious well in the background. It started drizzling but no one seemed to care; umbrellas popped up everywhere like mushrooms. The walk to Quinta da Regaleira wasn’t far (maybe 10 minutes?), but those narrow streets get slippery quick — Joana warned us about that too.

Cabo da Roca felt like standing at the edge of everything — wind so strong it nearly took my phone. There’s a little stone marker saying it’s Europe’s westernmost point; everyone took turns posing by it, laughing at their hair blown sideways. On the drive down to Cascais, Joana told stories about spies hiding out here during WWII (I always thought that was just movie stuff). Lunch was on our own by the beach — grilled fish, salty skin, sun coming out for maybe twenty minutes before clouds rolled back in. I still think about that view over the Atlantic sometimes.

Step-by-step itinerary

Day 1 — Visit Sintra, Cabo da Roca and Cascais

• Depart from Lisbon by minivan
• Guided visit to Pena Palace and grounds
• Walk Sintra old town and try local pastry
• Self-guided visit to Quinta da Regaleira
• Stop at Cabo da Roca for photos
• Drive through Estoril for quick view
• Relax and explore Cascais village
• Return to Lisbon

Top questions

Is hotel pickup included for this Lisbon to Sintra day trip?

Yes, pickup and drop-off from central Lisbon hotels is included.

Does this tour include entry to Pena Palace?

Pena Palace ticket is included if you select that option during booking.

How much free time do we get in Sintra village?

You’ll have time to explore Sintra old town or visit Regaleira on your own.

Are food or drinks included on this tour?

No meals are included; you can buy pastries or lunch during free time.

What is the group size for this day trip?

The small group tour has a maximum of 8 travelers per van.

Is Quinta da Regaleira entry ticket included?

No, tickets for Regaleira are not included; visiting is optional during free time.

Will we visit Cabo da Roca?

Yes, there’s a stop at Cabo da Roca for photos and fresh air after Sintra.

Is this tour suitable for people with limited mobility?

No, due to walking and uneven surfaces it isn’t recommended for limited mobility travelers.

What’s included

Your day includes hotel pickup and drop-off from Lisbon city center hotels, guided visits with a local expert (Joana knew every shortcut), skip-the-line entry to Pena Palace or park grounds depending on your ticket choice, plus Wi-Fi and AC in a comfy 8-seater van. Free time lets you try pastries or stroll through Regaleira’s gardens before returning late afternoon.