Sintra, Cascais & Estoril Private Tour from Lisbon: Pena Palace

Two UNESCO palaces and the Atlantic edge in a single afternoon.

A private guided tour from Lisbon to Sintra, Cascais, Estoril and Cabo da Roca, with hotel or port pickup and a Mercedes-Benz with air conditioning. The tour includes a guided visit to Pena Palace and Park (with fast-track entry if you choose that option), free time in Sintra's medieval center, a stop at Cabo da Roca, the westernmost point of Europe, and a visit to the old fisherman village of Cascais. The guide speaks English, Spanish, Portuguese or French. Pena Palace entry is optional. You can skip it and explore Sintra on your own instead.

Step-by-step itinerary

Stops and time at each

1. Campo de Ourique Marketpass by
2. Castle of the Moorspass by
3. Sintra30m
4. Cabo da Roca30m
5. São Jorge Castle30m
6. Pena National Palace2h
7. Sintra National Palacepass by
8. Boca do Infernopass by

Explore Sintra, Cabo da Roca, and Cascais

• Pass Campo de Ourique Market
• Pass Moorish Castle
• Visit old medieval village of Sintra
• Visit Pena Palace and Park
• Drive to Cabo da Roca and stop
• Pass Guincho Beach and coastal road
• Visit Cascais Bay and fisherman village
• Pass Estoril and Casino Estoril

The experience

You're picked up from your hotel or cruise port in Lisbon and driven to Sintra in a private Mercedes with air conditioning. The route passes through the Moorish Castle on the approach, then enters the medieval village itself. If you've booked the Pena Palace option, you'll have fast-track entry to skip the ticket line and walk the palace rooms with your guide. If you've chosen to skip it, you get free time to wander the old town at your own pace. Either way, you're standing inside a UNESCO World Heritage site that was the summer retreat of Portuguese kings.

After Sintra, the drive heads west toward the coast. You stop at Cabo da Roca, a rocky headland that marks the westernmost point of continental Europe. The guide will point out where the land ends and the Atlantic begins. From there, the route follows the coastal road past Guincho Beach and into Cascais, where you visit the old fisherman village and its bay. The tour also passes through Estoril and its casino on the way back toward Lisbon. The whole day runs eight hours from pickup to drop-off.

Transport, the guide, and hotel or port pickup are included. If you've selected the fast-track option, Pena Palace entry and skip-the-line access come with it. If you've chosen the standard ticket option, entry is included but you'll use the regular queue. Infants can travel in a pram or stroller, and specialized infant seats are available. The company holds Portugal's Clean & Safe seal and follows health protocols.

What’s included

• Private Mercedes-Benz with air conditioning and a private guide in English, Spanish, Portuguese or French.
• hotel or cruise port pickup and drop-off.
• guided visits inside Pena Palace and other monuments (if the option you select includes entry).
• fast-track entry to Pena Palace if you choose that option.
• specialized infant seats available on request.

Options for this experience

3 options

Pena Palace ticket is not includedGuide in 4 languages · 08:30Sintra, Cascais and Estoril: Explore Sintra, the former summer residence of the Portuguese kings and a UNESCO World Heritage site just outside Lisbon. Pickup is included

Pena Palace ticket is includedGuide in 4 languages · 08:30Sintra, Cascais and Estoril: Explore Sintra, the former summer residence of the Portuguese kings and a UNESCO World Heritage site just outside Lisbon, on our luxury private tour. Pickup is included

Tickets and fast track access are includedGuide in 4 languages · 08:30Sintra, Cascais and Estoril: Explore Sintra, the former summer residence of the Portuguese kings and a UNESCO World Heritage site just outside Lisbon. Pickup is included

You pick the guide language when booking.

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

Before you book

Days and timesEvery dayDeparts at 08:30

AgesAdult (3 and older) · Under 3: can't be included in the booking

GroupPrivate

Live guideEnglish, Spanish, French 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 6 days ago

Good to know

Easy physical levelStroller friendlyInfant seats availablePublic transport nearby

Operated by Selection Tours, Lda.

Is this one for you?Choose this tour if you're arriving in Lisbon for the first time and want to see Sintra's royal palaces without renting a car or navigating public transport. The guide handles the route and the timing, and your hotel pickup means you don't start the day at a meeting point across the city.

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Top questions

What languages is the guide in?

Live guide in English, Spanish, French and Portuguese.

Can I visit Pena Palace without buying a ticket on this tour?

Yes. The tour offers three options at checkout: fast-track entry to Pena Palace included, standard entry included, or entry excluded. If you skip the ticket, you'll have free time in Sintra's medieval center instead.

What's included in the eight-hour tour from Lisbon?

Private transport in a Mercedes with air conditioning, hotel or port pickup and drop-off, a private guide in your chosen language, and a guided visit inside the monuments you select. If you book the Pena Palace option, entry and fast-track access are included. Sintra National Palace and other sites are visited as stops during the day.

Does the tour stop at Cabo da Roca, and what is it?

Yes. Cabo da Roca is the westernmost point of continental Europe, a rocky headland on the coast where the land meets the Atlantic. The tour stops there so you can see it and take photos.

Is lunch included on this tour?

No. Food and drinks are not included. The tour includes a stop in Cascais where you can eat, but you'll arrange and pay for your own meal.

Can cruise passengers book this tour?

Yes. At booking, provide your ship name, docking time, disembarkation time and re-boarding time so the tour company can time your return to the port.