Sintra and Cascais Private Tour from Lisbon: Pena Palace Included

Pena Palace, Cape of Roca, and the Cascais coast in one full day without arranging the drive

A full-day private tour from Lisbon takes you through Sintra's forested hills to the 19th-century Pena Palace (entry included), then to Cape of Roca at Europe's westernmost edge, and finishes at the seaside resort of Cascais. Your guide speaks English, hotel pickup is included, and the tour runs eight hours with an air-conditioned vehicle and bottled water on board.

Step-by-step itinerary

Stops and time at each

1. Pena National Palace1h 30m · entry included
2. Sintra45m
3. Cabo da Roca20m
4. São Jorge Castle1h 30m

Explore Sintra, Coast, and Cascais

• Drive through Sintra's forested hills
• Visit Pena Palace and Park
• Explore Sintra Old Town and shops
• Taste local delicacies in Sintra
• Visit Cabo da Roca cliffside viewpoint
• Pass Guincho beach en route
• Free time in Cascais for lunch and stroll
• Drive along Estoril Coast past Casino

The experience

The driver collects you from your Lisbon hotel and heads into Sintra's hillsides, where your guide explains how the town became the center of European Romanticism in the 1800s. At the top of the hills sits Pena Palace (the palace ticket is already included), and you walk inside with your guide to see the rooms and grounds. The palace sits high enough that the views alone justify the climb, and the guide's knowledge of the architecture and its history fills in what the building itself does not say.

After the palace, you drop into Sintra's Old Town on foot. This is free time to browse the handicraft shops, taste local pastries like Travesseiros or Queijadas at a café, or simply walk the narrow streets without a schedule pressing. The town is small enough to cover in an hour, and the pace here is yours to set. From there, the drive takes you to Cape of Roca, the westernmost point of continental Europe, where the land drops to the Atlantic and the views stretch to the horizon. You pass Guincho beach on the way down to the coast.

The tour ends in Cascais, a seaside resort where you have time for lunch (at your own cost) and a walk along the bay or the beach. On the drive back to Lisbon, you pass the Estoril Casino, famous from World War II spy stories. The whole route, mountains to coast to resort, takes eight hours, and the air-conditioned vehicle means you are not managing the navigation or the parking.

What’s included

• Hotel pickup and drop-off in Lisbon.
• Pena Palace entry ticket.
• English-speaking guide.
• eight-hour private tour in an air-conditioned vehicle.
• bottled water on board.
• WiFi on the vehicle.

Before you book

Days and timesEvery dayDeparts at 08:00

Meeting point and pickupHotel pickup included.

Cancellation and refundsFree cancellation up to 24h before the start. After that, no refund.It may be canceled due to bad weather. If that happens, you're offered another date or a refund.

Prices and times updated 2 days ago

Good to know

Moderate physical levelPets welcomePublic transport nearbyNot for heart conditions

Operated by No Map Tours

Is this one for you?Book this tour if you want to see Sintra's palace and the Portuguese coast in a single day without driving yourself or piecing together separate transport and tickets: the guide, the vehicle, the palace entry and the route are all arranged, so the day holds together without you building it.

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Top questions

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 24h before the start.

What is Pena Palace like when you get there?

Pena Palace sits at the top of Sintra's hills and is a 19th-century Romanticism landmark with rooms, grounds and sweeping views. Your guide escorts you inside and explains the architecture and history. The entry ticket is included in the tour price.

How much free time do you get in Cascais?

Cascais is the final stop on the tour, and you have free time there to have lunch (your own cost), walk the bay or the beach, or explore the seaside resort before the drive back to Lisbon.

Does the tour include lunch?

Lunch is not included. You have free time in Cascais to eat at a restaurant of your choice at your own expense, and bottled water is provided on the vehicle.

What is Cape of Roca?

Cape of Roca is the westernmost point of continental Europe, a cliffside overlook above the Atlantic Ocean where the tour stops for views before heading to Cascais.

Is hotel pickup included?

Yes, the driver picks you up from your Lisbon hotel at the start of the tour and returns you there at the end.

How long is the full tour?

The tour runs eight hours from hotel pickup to drop-off, covering Pena Palace, Sintra's Old Town, Cape of Roca, and Cascais.