Sintra and Cascais Full-Day Private Tour from Lisbon

Pena Palace sits high in the Sintra hills, painted in colors that look pulled from a fairytale.

A full-day private tour from Lisbon takes you through Sintra's Pena Palace (a 19th-century Romantic palace built on a cliff with Manueline and Moorish architecture), then to Cabo da Roca, the westernmost point of continental Europe, and along the Cascais and Estoril coastline. Hotel or port pickup is included, as is an air-conditioned vehicle with bottled water and a driver-guide who speaks English, Spanish or Portuguese. Food and drinks are not included.

Step-by-step itinerary

Stops and time spent at each

1. Cabo da Roca45m
2. Estoril55m

Explore Sintra, Cascais, and Estoril

• Visit Pena Palace in Sintra hills
• See Cabo da Roca cliff and lighthouse
• Enjoy Guincho Beach and its winds
• Tour coastline and beaches of Cascais
• Explore Estoril seaside and casino area

The experience

You start the morning with pickup from your Lisbon hotel or port, then head north into the Sintra hills to Pena Palace. The palace sits at 500 meters high on a rock, built in the 19th century as a mix of Manueline and Moorish styles with painted terraces that catch the light. Inside, the rooms are equally detailed: frescoes on the walls, furniture that looks like it belongs in another century. The palace is one of Portugal's finest tourist attractions, and you move through it without arranging entry yourself.

From there, the tour continues to Cabo da Roca, the point where the land ends and the sea begins. A 1772 lighthouse stands on a cliff about 140 meters high, and the wind there is strong enough to feel it push against you. The poet Luís de Camões immortalized this place, and it's the most imposing viewing point around Lisbon: nature reveals its true power here. On the way, you pass Guincho Beach, 6 kilometers northwest of Cascais, right on the edge of Serra de Sintra National Park, known for strong winds and popular with surfers and kite flyers.

The afternoon takes you along the coast through Cascais, an old fishing village that has grown into the Portuguese Riviera, with forts and viewpoints tied to maritime defense. Then Estoril, about 10 minutes from Lisbon, where the beaches have thin sand and the Casino, one of Europe's largest, sits on the seafront. You can walk the coastline, see the leisure areas by the water, and if you choose, eat fresh catch from the ocean. The vehicle is brand new, air-conditioned, and stocked with bottled water throughout the day. You're back at your hotel or port by evening.

What’s included

• Private vehicle transport in a brand-new, air-conditioned minivan or sedan (your choice at checkout).
• hotel or port pickup and drop-off.
• a driver-guide in English, Spanish, or Portuguese.
• bottled water throughout the day.
• and fuel surcharge.

Options for this experience

2 options

Luxury SedanUp to 3 per booking · Guide in English, Spanish or Portuguese · 21 departure times: the first at 08:00, the last at 18:00Pickup is included with the luxury sedan option

Luxury MinivanUp to 7 per booking · Guide in English, Spanish or Portuguese · 25 departure times: the first at 07:00, the last at 19:00Includes pickup with the luxury minivan option

You pick the guide language when booking.

You'll see the exact price of each option when you check availability.See dates and prices

Before you book

Days and timesEvery day25 departure times: the first at 07:00, the last at 19:00

Book up to1d before

GroupPrivate

Live guideEnglish, Spanish and Portuguese

Meeting point and pickupHotel pickup included.

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

Prices and times updated 13 days ago

Good to know

Low physical effortStroller-friendlyInfant seats availablePublic transport nearby

Operated by Amiroad Luxury Transports

Is this one for you?Choose the minivan if you're traveling with a group or need infant seats. The sedan works for couples or solo travelers who want a more intimate ride. Either way, the fixed itinerary and private vehicle mean you move through Sintra's hills, the coast, and back to Lisbon without waiting for other passengers or arranging transport between stops.

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Top questions

What languages is the tour guided in?

Live guide in English, Spanish and Portuguese.

What is Pena Palace like inside?

Pena Palace is equally as fascinating as its exterior, with frescoes on the walls, eclectic and luxurious furniture, and details throughout that look like they belong in a fairytale. The interior draws attention to every element, from the painted terraces to the rooms themselves.

Can I see the whole Cascais and Estoril coastline on this tour?

Yes. The tour includes the whole coastline and the best beaches around both towns, with stops at viewpoints and forts in Cascais, and time to walk the leisure areas and beaches in Estoril.

What is Cabo da Roca?

Cabo da Roca is the westernmost point of continental Europe, where a 1772 lighthouse stands on a cliff about 140 meters high. It's known as the place where the land ends and the sea begins, and the wind there is incredibly strong. It's the most imposing viewing point around Lisbon.

Is hotel pickup included?

Yes. Hotel or port pickup and drop-off are included in the tour. A driver-guide will meet you and return you at the end of the day.

Do I need to book entry to Pena Palace separately?

Entry to Pena Palace is arranged as part of the tour, so you don't need to organize it yourself. The driver-guide handles the logistics.