Sintra, Cascais & Pena Palace: Small Group Day Trip Lisbon

Summary

Sintra pastries, wild Atlantic cliffs and fairy-tale palaces from Lisbon

You’ll taste Sintra’s famous pastries fresh from a family-run bakery, stand on windswept cliffs at Cabo da Roca where Europe ends, stroll Cascais’ sunny streets for lunch or gelato, and explore the colorful towers of Pena Palace—all with an English-speaking local guide and a small group for company.

What’s the experience like?

“You have to try the travesseiros,” Pedro grinned as we ducked into a bakery in Sintra — honestly, I’d never heard of them before. The smell hit first: warm sugar and toasted almonds. We’d just wandered through those winding little lanes (so many tiles everywhere), and suddenly there I was, eating this flaky pastry that crumbled all over my shirt. Not even mad about it. The Sintra cheesecakes were next — tiny, sweet, almost lemony? Pedro said they used to pay rent with these centuries ago. Felt like the kind of detail you only get from someone who grew up nearby.

The drive out toward Cabo da Roca was quieter than I expected. Maybe everyone was still thinking about dessert. Wind picked up as we got closer — you could taste salt in the air before you even saw the ocean. Standing on those cliffs, knowing it’s the westernmost point of continental Europe… I don’t know, it made me feel small in a good way. There was this old lighthouse too (can’t go in), just sitting there watching the Atlantic crash below. On the way to Cascais we passed these sandy stretches where surfers looked like tiny dots against all that blue. Someone pointed out Guincho Beach but I mostly remember the sound of wind whipping past our ears.

Cascais itself felt easygoing — people eating gelato on benches, kids chasing pigeons near the marina. We had some time to wander or grab lunch (I went for grilled sardines; smelled like summer). No pressure to rush anywhere. Then came Pena Palace: honestly, I thought it might be too much color but up close it just works somehow — yellow walls against green misty hills, tiles everywhere again. Our guide told us how King Ferdinand basically built his own fantasy up here; it did feel a bit unreal with clouds drifting by and tourists snapping photos at weird angles.

Step-by-step itinerary

Day 1 — Explore Sintra, Cascais, and Pena Palace

• Meet at Avenida da Liberdade 9
• Visit Sintra village
• Taste travesseiros and cheesecakes
• Pass by Colares wine cellars
• Stop at Cabo da Roca cliff
• View Cabo da Roca lighthouse
• Pass Guincho beach
• Stop in Cascais town
• Try Santini’s Gelati ice cream
• Visit Pena Palace and park

Top questions

How long is the Sintra Cascais Pena Palace day trip?

The tour lasts approximately 9 hours from Lisbon.

Is pickup included for this small group tour?

Yes, there is central meeting point pickup and drop-off at Avenida da Liberdade 9.

Are entry fees to Pena Palace included?

Yes, entrance fees to Park and Palace of Pena are included in your booking.

How many people are in each group?

The tour is limited to a maximum of 8 people per group.

Is lunch provided during the tour?

No, lunch is not included but you’ll have free time in Sintra or Cascais to eat.

Are infants or children allowed on this tour?

Yes, infants and children are welcome; infant seats are available if needed.

What language is the tour conducted in?

The entire day trip is only in English.

Will we visit Cabo da Roca lighthouse inside?

No, you’ll see the lighthouse from outside but cannot enter it.

Is there time to try local pastries or ice cream?

Yes, you’ll stop at a historic bakery in Sintra for pastries and can try Santini gelato in Cascais if you want.

What’s included

Your day includes pickup and drop-off at Avenida da Liberdade in Lisbon, all transportation by air-conditioned vehicle with an English-speaking local guide and driver throughout. Entry fees for both Pena Park and Palace are covered (€20 per person), plus stops at Sintra’s historic bakery for pastries (at your own cost), free time for lunch or snacks in Cascais, and plenty of stories along the way before heading back to Lisbon together.