Sintra & Cascais Day Trip: Pena Palace Entry, Gardens & Pickup

Summary

Sintra palaces, Pena gardens walk, Cascais coast and local flavors

You’ll taste sweet pastries in postcard-perfect Sintra village, walk through misty gardens up to Pena Palace with entry included, stand at windswept Cabo da Roca cliffs, and hear local stories from your guide before ending by the beaches of Cascais. This day trip leaves you full of new sights — and maybe still craving another pastry.

What’s the experience like?

I didn’t expect the air to smell so green when we stepped out in Sintra — like wet stone and something sweet from the trees. Our guide, João, grinned as he pointed up at the clouds clinging to the palace towers. “Sintra is always a bit mysterious,” he said. We started with a walk through the Pena Palace gardens instead of joining the main gate crowd (honestly grateful for that). The mossy paths were quiet except for birds I couldn’t name and João’s stories about exiled kings hiding here. My shoes got damp but I barely noticed — too busy gawking at all those wild colors on the palace walls.

Inside Sintra village, we had time to wander on our own. I tried a travesseiro pastry (still warm) and instantly understood why people line up for them. There was this old man selling cork hats who winked at me when I tried my Portuguese — not sure if I charmed him or just made him laugh. Lunch was casual, nothing fancy, but sitting outside watching everyone drift by felt right. The main keyword here is really “day trip Sintra Cascais” because it packs so much into one day without feeling rushed.

Cabo da Roca was windier than I thought — nearly lost my hat over the cliffs. Standing there at Europe’s edge with sea spray stinging my face, it hit me how far from home I was. Later in Cascais, João told us about spies during WWII hiding in these sunny streets (which feels wild now that it’s all ice cream shops and kids chasing pigeons). The drive back along the coast was sleepy; sun slipping down behind us, everyone a little quiet in that good way after a long day out.

Step-by-step itinerary

Day 1 — Sintra and Cascais scenic day tour

• Pick up from Lisbon accommodation
• Drive to Sintra Hills area
• Walk through Pena Palace Gardens
• Visit Pena Palace exterior and views
• Free time for lunch in Sintra Village
• Visit Cabo da Roca viewpoint
• Explore Cascais town and bay
• Drive along Marginal Road coast
• Return to Lisbon and tour ends

Top questions

Is hotel pickup included for this Sintra & Cascais day trip?

Yes, hotel or apartment pickup in Lisbon is included unless your address isn’t accessible by van; then you’ll meet at a nearby point.

Does the tour include entry to Pena Palace?

Yes, admission tickets for Pena Palace are included in your tour price.

How much walking is involved during the gardens walk?

The walk through Pena Palace gardens involves some uneven paths and may not be suitable for travelers with mobility issues.

How long does the Sintra & Cascais day trip last?

The tour lasts approximately 8 hours including all stops and transfers from Lisbon.

Is lunch included in this tour?

No, lunch is not included but you’ll have free time to eat in Sintra village where there are many options.

Are infant seats available?

Yes, specialized infant seats are available upon request.

Can pregnant travelers join this tour?

This tour is not recommended for pregnant travelers due to walking requirements.

Do guides accompany inside Pena Palace?

No, guides explain outside but aren’t allowed to guide inside the palace itself.

What’s included

Your day includes Lisbon hotel or port pickup and drop-off by air-conditioned minivan with WiFi and bottled water provided on board. Entry tickets for Pena Palace and its gardens are covered. You’ll get live commentary from your driver-guide throughout the journey plus plenty of free time to explore Sintra village, Cabo da Roca cliffs, and Cascais bay before returning to Lisbon in the evening.