Sintra, Cabo da Roca & Cascais: Private Day Trip from Lisbon

Summary

Sintra’s fairytale palaces, wild Atlantic cliffs & Cascais charm in a day

You’ll start with hotel pickup in Lisbon and head straight to Sintra’s whimsical palaces before feeling the Atlantic spray at Cabo da Roca’s cliffs. A private guide brings legends to life as you wander Cascais’ marina and taste local pastries. Expect laughter, sea air, and moments you’ll want to hold onto long after you’re back.

What’s the experience like?

I didn’t expect to feel so small standing at Cabo da Roca. We’d just left the winding streets of Sintra—past the Moorish Fountain where our guide Ana joked about the “best water in Portugal” (I tried it; cold and sharp)—and suddenly there was nothing but wind and the Atlantic. The cliffs felt rough under my hands. I could smell salt and something like wild thyme. Ana pointed out a lighthouse blinking through the fog. I still think about that view when I hear wind at home.

Earlier, we’d zigzagged up to Pena National Palace. The colors are even stranger in real life—like someone spilled paint on a sandcastle. It was crowded but Ana somehow found us a quiet spot near the tiled arches. She told us stories about kings hiding out here (I got distracted by a tile with a chipped corner; it made the place feel lived-in). Lunch was quick—pastries from a bakery in Sintra village, flaky and sweet, eaten standing up while watching two old men argue over chess.

Cascais was softer somehow. We wandered along the marina, gulls screaming overhead, and watched kids eat gelato outside Santini’s (Ana insisted we try the strawberry—she was right). On Guincho Road, waves crashed so loud we had to shout. By then I’d stopped checking my phone for time. The whole day felt like it stretched sideways instead of forward—you know?

Step-by-step itinerary

Day 1 — Explore Sintra, Cabo da Roca, Cascais

• Depart Lisbon for Sintra
• Pass by National Palace of Queluz
• Visit Pena National Palace and Park
• Pass by Castle of the Moors
• Pass by Sintra National Palace
• Pass by Moorish Fountain
• Pass by Monserrate Palace
• Visit Cabo da Roca cliffs
• Explore Cascais historic center
• Pass by Boca do Inferno
• Pass by Guincho Beach
• Pass by Cascais Marina
• Pass by Santini Cascais Baía
• Pass by Praia de Santa Marta
• Pass by Casino Estoril
• Return to Lisbon

Top questions

How long is the private day trip from Lisbon to Sintra, Cabo da Roca & Cascais?

The tour lasts a full day with pickup at 8:00 AM from your hotel or accommodation in Lisbon, Cascais or Sintra.

Is transportation included on this Sintra & Cascais day trip?

Yes, private Mercedes-Benz transportation with fuel, tolls, parking costs and hotel pickup is included.

Are entrance fees to Pena Palace or other sites included?

No entrance fees are mentioned as included; check with your provider for details or bring cash for tickets.

Is lunch provided during the tour?

No set lunch is included but there are stops in Sintra village where you can buy local pastries or snacks.

Can travelers with limited mobility join this tour?

The itinerary can be adjusted for guests with limited walking; advise at booking if needed.

What languages does the private guide speak?

The private guide speaks English fluently.

What are some highlights of this day trip?

Pena National Palace, Sintra old town, Cabo da Roca cliffs, Boca do Inferno, Guincho Beach road and Cascais marina.

Is infant seating available for families?

Yes, specialized infant seats are available upon request—mention this when booking.

What’s included

Your day includes private hotel pickup at 8:00 AM anywhere in Lisbon (or Cascais/Sintra), all transportation by Mercedes-Benz vehicle with fuel and parking covered, plus an English-speaking private guide throughout. The pace is flexible—just let them know if you need more time or have special requirements for walking comfort.