Private Sintra, Cabo da Roca & Cascais Day Tour from Lisbon

Summary

Sintra Palaces, Atlantic Views & Cascais Coastal Tour

You’ll get to explore fairytale palaces in Sintra, taste traditional pastries at a bakery locals love, stand at Europe’s edge at Cabo da Roca, watch surfers tackle Atlantic waves at Guincho Beach, and stroll through Cascais’ historic streets—all with easy transport and local insight along the way.

What’s the experience like?

The morning air in Sintra always feels a bit cooler—almost damp, with that earthy scent you only get near thick woods. We met our guide right outside the hotel, hopped into a comfy van (WiFi actually worked), and set off for the hills. Sintra’s pastel palaces peeked out from behind tall pines as we wound up narrow roads. Our first stop: Pena Palace. The colors are even brighter in person—reds, yellows, blues—and the tiles have this old-world shine when the sun hits them. Our guide explained how King Ferdinand turned this place into his fairy-tale retreat in the 1800s. You can see Lisbon on a clear day if you squint past the clouds.

After wandering through Pena’s terraces and snapping way too many photos of those wild chimneys, we ducked into Piriquita bakery downtown. It’s tiny inside—locals squeeze past tourists for trays of queijadas and travesseiros. I grabbed a warm queijada; it’s sweet but not too much, almost like a creamy cheesecake with cinnamon dusted on top. The lady behind the counter said they’ve been baking here since 1862—her family’s been at it forever.

We rolled on toward Cabo da Roca next—the wind really whips up there, so bring a jacket even if Lisbon felt warm that morning. There’s this sign marking Europe’s westernmost point; everyone lines up for photos but if you walk a bit further down the path, it gets quieter and you can just listen to waves smashing against the rocks below. The lighthouse still works, blinking out to sea like it has for centuries. Our guide pointed out where an old fort once stood—only bits left now.

On the way to Cascais, we stopped at Praia do Guincho. Surfers were already out even though it was barely noon—windy days make for big waves here. Sand gets everywhere but it’s worth it for that salty air and watching locals wrangle their boards.

Cascais itself is lively but not overwhelming—a mix of old fishermen mending nets by the harbor and folks sipping coffee at sidewalk cafés like Sacolinha or O Pãozinho das Marias. The streets twist around little shops and tiled houses; you’ll spot mansions built when royalty started summering here in the 1800s. If you’ve got time before heading back, grab some grilled sardines or just sit by the water watching boats drift in.

Step-by-step itinerary

Day 1 — Explore Sintra and Cascais Highlights

• Visit National Palace of Sintra
• Tour Pena National Palace
• Stop at Piriquita Bakery
• Visit Cabo da Roca
• Pass by Praia do Guincho
• Explore Cascais town

Top questions

Is entrance to Pena Palace included?

No, entrance fees to monuments like Pena Palace aren’t included—you pay those directly at each site.

Can I bring my baby or toddler?

Yes! Infant seats are available and strollers fit fine in the vehicle.

How long do we spend at each stop?

The timing is flexible—your guide adjusts based on your interests and pace throughout the day.

Will there be time for lunch?

Yes, there are breaks in Sintra or Cascais where you can grab lunch or snacks (not included).

What’s included

Your ride is private and air-conditioned with WiFi onboard (handy for uploading photos). Hotel pickup and drop-off are covered too. Bottled water comes along for the trip, plus your driver-guide shares stories all day. Specialized infant seats are ready if needed.