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

Pena Palace, Cliffs & Coastal Villages in One Day from Lisbon

You get picked up from your Lisbon hotel at 8am and spend the day visiting Pena Palace, the Castle of the Moors, Sintra's old town, Monserrate Palace, Cabo da Roca's westernmost cliffs, and the coastal towns of Cascais and Boca do Inferno. Transport, tolls, parking and an English-speaking private guide are included. Palace entries are separate. You're back by evening, having covered the main Sintra and coast highlights without arranging logistics yourself.

Step-by-step itinerary

Stops and time at each

1. National Palace of Queluzpass by
2. Pena National Palace1h 30m
3. Castle of the Moorspass by
4. Sintra National Palacepass by
5. Monserrate Palacepass by
6. Boca do Infernopass by
7. São Jorge Castle1h
8. Cascais Marinapass by

Explore Sintra, Cabo da Roca, Cascais

• Depart Lisbon for Sintra
• Pass by National Palace of Queluz
• Visit Pena National Palace
• Explore Park and National Palace of Pena
• 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 Centro Historico de Cascais
• Pass by Boca do Inferno
• Pass by Guincho Beach
• Pass by Cascais Marina
• Pass by Santini Cascais Baía
• Pass by Gelados Santini
• Pass by Praia de Santa Marta
• Pass by Casino Estoril

The experience

What does a full day along Portugal's coast actually look like when you don't have to navigate it yourself? The tour starts with pickup at 8am from your Lisbon hotel, then heads straight to Queluz Palace before climbing into the hills toward Sintra. The Pena National Palace sits on top of a ridge in shades of yellow and red that look almost unreal from a distance. You'll stop to photograph it from the outside, and if you want to go in, the guide can arrange that. The Castle of the Moors is nearby, stone walls running along the ridge line, and then you move down into Sintra's old town to see the National Palace with its twin chimneys and the Moorish Fountain tucked into the narrow streets.

After Sintra, the route heads toward the coast. Monserrate Palace appears on the way (another palace, this one more overgrown and romantic), and then you reach Cabo da Roca, the westernmost point of mainland Europe. The cliffs drop straight down, and the Atlantic wind hits hard. You stand there and take the photo everyone takes, then move along the coastal road toward Cascais. Boca do Inferno (Mouth of Hell) is a rock formation where waves crash into a narrow inlet, loud and violent in the right conditions. The Guincho coastal road runs tight against the cliffs, and then you're in Cascais itself: the marina, the historic center, maybe a stop for ice cream at Santini if there's time. The whole day is private, just you and your guide in a Mercedes, no group waiting around, no schedule that doesn't fit your pace.

The guide is English-speaking and knows the region well enough to answer questions about what you're seeing: the history of the palaces, why Sintra was built where it was, what the coast looked like before tourism. You don't arrange tickets separately. The tour handles transport, fuel, tolls and parking. If you want to enter any of the palaces, that's extra and arranged on the day. The pickup happens at 8am sharp, and you're back in Lisbon by evening. It's a long day, but it's also the kind of day where you see five different landscapes and don't have to think about how to get between them.

What’s included

• Your day includes Mercedes-Benz private transportation with pickup at 8am from your Lisbon-area hotel, all fuel and tolls, parking at each stop, and a private English-speaking guide for the full duration.
• The route covers the National Palace of Queluz, Pena National Palace (exterior), Castle of the Moors, Sintra's National Palace and old town, Monserrate Palace, Cabo da Roca cliffs, Boca do Inferno, and Cascais's historic center and marina.
• Palace interiors, meals and personal expenses are not included.

Before you book

Days and timesEvery dayDeparts at 08:00Last departure this season: 30 Dec

AgesAdult (13 and older) · Child (1 to 12 years)

Meeting point and pickupHotel pickup included.

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

Prices and times updated 10 days ago

Good to know

Moderate physical levelInfant seats available

Operated by Portugal Magik Tours

Is this one for you?Best for travelers who want to see Sintra's palaces and the Portuguese coast in one day without renting a car or coordinating multiple tickets and transport: the private guide and fixed pickup time mean you move at your own pace and don't navigate between locations yourself.

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Top questions

Can children come?

Yes. Ticket types: Child (1 to 12 years).

How long is the full day trip from Lisbon?

Approximately 8 hours, including all stops and travel time between locations.

What's included in the price?

Mercedes-Benz private transport, fuel, tolls, parking, hotel pickup at 8am, and an English-speaking private guide. Palace entry fees are separate.

Can I enter the palaces?

Yes. Pena Palace, the National Palace of Sintra, and Monserrate Palace can be entered for an additional fee, arranged with your guide on the day.

Is this tour suitable for people with limited mobility?

The itinerary includes walking at several stops. Let the operator know at booking if anyone has limited walking ability so they can adjust the route.

What if I want to skip some stops?

It's a private tour, so you can discuss your preferences with the guide. The standard itinerary covers Sintra, Cabo da Roca, and Cascais in one day.

Do I need to book palace tickets in advance?

No. Your guide can arrange entry on the day if you decide to go inside. You pay the palace directly.

What time do I get picked up?

Pickup is at 8am from your hotel or accommodation in Lisbon, Cascais, or Sintra.

Is lunch included?

Lunch is not included in the standard tour. Your guide can recommend restaurants in Sintra or Cascais if you'd like to stop.