Sintra and Cascais tour from Lisbon: Palaces and coastal cliffs

Walk Sintra's palaces and stand at Europe's westernmost edge

A private nine-hour tour from Lisbon that starts in Sintra's historic center, includes entry time to one palace of your choice, then moves through Azenhas do Mar and across the Serra de Sintra to Cabo da Roca (the westernmost point of Europe at 140 meters above the sea) before finishing at the rocky formations of Boca do Inferno and the beach town of Cascais. Hotel pickup is included. The guides are a Portuguese businessman and a Brazilian journalist who have been running tours since 2019 and provide free photos of the day.

Step-by-step itinerary

Stops and time spent at each

1. Sintra3h
2. Cabo da Roca30m
3. Boca do Inferno30m
4. São Jorge Castle1h

Explore Sintra and Cascais highlights

• Depart from Lisbon to Sintra
• Stroll through Sintra Historic Center
• Visit one Sintra palace
• Visit Azenhas do Mar beach and ocean pool
• Drive through Serra de Sintra to Cabo da Roca
• Visit Cabo da Roca lighthouse and shops
• Descend to Praia do Guincho beach
• Visit Boca do Inferno rocky formation
• Stroll through Cascais Historic Center

The experience

The tour leaves your Lisbon hotel in the morning and heads straight to Sintra, where you walk through the historic center with your guide before choosing which palace to visit: the National Palace, Pena Palace, Quinta da Regaleira, Monserrate Palace, Queluz Palace or Biester Palace. The time carved out for this stop is yours to spend as you want, and the guide handles the route and the stories of the buildings around you.

After lunch, the route climbs into the Serra de Sintra, passing through the old bucolic streets where royal carriages once traveled. You stop at Azenhas do Mar, a village built into the cliffs with a natural oceanic pool, then continue to Cabo da Roca: the westernmost point of Europe. The cliffs here rise 140 meters straight into the sea, and there's a lighthouse, a gift shop and a coffee shop on site. The drive down from the Serra takes you past Praia do Guincho, a beach famous with surfers for its large waves, and then to Boca do Inferno, a rocky formation where waves hit the rocks hard enough that the ground seems to shake.

The day ends in Cascais, where you stroll through the historic center before heading back to Lisbon. The vehicle is air-conditioned, bottled water is provided throughout, and you'll receive free photos from the tour. Both guides speak English and Portuguese.

What’s included

• Private tour with hotel pickup from Lisbon.
• nine hours with an English or Portuguese-speaking guide.
• time to visit one palace of your choice in Sintra.
• stops at Azenhas do Mar, Cabo da Roca, Boca do Inferno and Cascais.
• air-conditioned vehicle.
• bottled water.
• free photos of the tour.

Before you book

Days and timesEvery dayDeparts at 08:30

Book up to1d before

AgesAdult (13 and older) · Child (3 to 12 years) · Infant (under 3): free

GroupPrivate

Live guideEnglish and Portuguese

Meeting point and pickupHotel pickup included.

Cancellation and refundsFree cancellation up to 24 h before the start. After that, no refund.It may be canceled due to bad weather or if the minimum number of travelers isn't reached. If that happens, you're offered another date or a refund.

Prices and times updated today

Good to know

Moderate physical effortStroller-friendlyInfant seats available

Operated by Portugal Afora

Is this one for you?Book this private tour if you want a guide who knows Sintra's history deeply and can adapt the day to your interests. You'll visit one palace, the coastal cliffs, and Cascais with someone who can explain the stories behind each stop.

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Top questions

What languages is the tour guided in?

Live guide in English and Portuguese.

Can children come?

Yes. Ticket types: Child (3 to 12 years); Infant (under 3): free.

What happens if it rains?

It may be canceled due to bad weather. If that happens, you're offered another date or a refund. Free cancellation up to 24 h before the start.

Can I choose which palace to visit in Sintra?

Yes. The tour includes time to visit one palace, and you pick from the National Palace, Pena Palace, Quinta da Regaleira, Monserrate Palace, Queluz Palace or Biester Palace based on what interests you.

What is Cabo da Roca and why is it on the tour?

Cabo da Roca is the westernmost point of Europe, where cliffs 140 meters high meet the sea. The tour reaches it by crossing the Serra de Sintra, and the site has a lighthouse, shops and a café.

How long does the tour take and when does it start?

The tour runs nine hours total, departing from your Lisbon hotel in the morning and returning in the afternoon. The exact pickup time is arranged when you book.

What is Boca do Inferno?

Boca do Inferno (Mouth of Hell) is a rocky formation on the coast where waves crash against the rocks with enough force to shake the ground. The sun reflecting off the water creates a striking contrast between the calm open sea and the power of the waves.

Is lunch included in the tour?

Lunch is not included, but the tour stops in Azenhas do Mar and Cascais, both towns with restaurants where you can eat on your own.

Who are the guides?

The guides are Pedro, a Portuguese businessman and graduate in social communication who lived in England for ten years, and Caio, a Brazilian journalist with over a decade of television experience who has lived in Lisbon since 2013. Both have been running tours since 2019.