Sintra & Cascais Day Trip: Pena Palace Ticket & Coastal Drive

Summary

Sintra palaces coastal views pastries and old town strolls

You’ll ride from Lisbon through Sintra’s misty hills, explore colorful Pena Palace with your guide, sample local pastries in town cafés, and stand atop Cabo da Roca’s wild cliffs before strolling seaside Cascais. Expect vivid scenery and genuine moments—like tasting fresh travesseiros or chatting with locals—that linger long after you’re back.

What’s the experience like?

We were already winding up those green hills outside Lisbon when our guide, Joana, pointed out the first glimpse of Sintra — just flashes of yellow and red through the mist. The air smelled like eucalyptus and wet stone. I kept craning my neck for a better look at Pena Palace (it really does look like something out of a storybook, but not in a cheesy way). Joana had stories about the Romantic poets who used to come here — apparently Byron called it a “glorious Eden.” Not sure I’d go that far, but I get why he liked it.

Inside the palace was all tile and velvet ropes and that faint old-wood smell. We shuffled behind a French couple who whispered the whole time. Joana explained some odd details — like why there are so many Moorish arches mixed with bright colors (I still think about those blue tiles). Afterward we wandered Sintra’s old town. I tried a travesseiro pastry, which was warm and flaky with almond cream inside — honestly, I could’ve eaten three but was too shy to order another with everyone watching. The café owner winked at me anyway.

Cabo da Roca was windy enough to nearly steal my hat. You can see nothing but ocean out there — it feels like you’re standing at the edge of everything. On the drive toward Cascais we passed Guincho beach; surfers bobbing out in cold waves, their wetsuits making them look like little seals. Lunch in Cascais wasn’t included but we found this tiny spot near the bay where an old man served grilled sardines on paper plates. He barely spoke English but smiled every time he brought more bread. It’s funny how you remember those small moments more than any postcard view.

Step-by-step itinerary

Day 1 — 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
• Stroll around Cascais bay and beach
• Drive along Estoril Coast past Casino

Top questions

Is hotel pickup included for this Sintra & Cascais tour?

Yes, hotel pickup and drop-off in Lisbon are included.

Are tickets for Pena Palace part of the day trip?

Yes, entry to Pena Palace is included in your booking.

How much walking is involved during the tour?

You’ll walk inside Pena Palace and around Sintra’s old town; moderate fitness is recommended.

Is lunch provided on this private tour?

No, lunch is not included; you’ll have free time in Cascais to choose where to eat.

Does the tour visit Cabo da Roca?

Yes, you’ll stop at Cabo da Roca for ocean views—the westernmost point of continental Europe.

Will we have time to try local pastries or snacks?

Yes, there’s time in Sintra to visit cafés or try specialties like travesseiros or queijadas.

Is there WiFi on board during the drive?

Yes, WiFi is available in the vehicle throughout the day trip.

Are service animals allowed on this tour?

Yes, service animals are permitted during the tour.

What’s included

Your day includes hotel pickup and drop-off from Lisbon, fast-track entry to Pena Palace (with your guide inside), bottled water throughout the journey, WiFi on board for sharing photos or checking maps as you go, plus an air-conditioned vehicle for comfort between stops—so you don’t have to worry about logistics at all.