Sintra day trip from Lisbon: Pena Palace & Cabo da Roca hike

Five kilometers of coastal forest and cliff-edge views above the Atlantic.

This day trip from Lisbon guides you through Sintra's UNESCO World Heritage sites: starting with Pena Palace's exterior, moving through the village, then hiking 5km across Cabo da Roca's clifftop paths with views of the Sintra forest and ocean, finishing at Praia da Adraga's distinctive rocky beach. The guide speaks English, Spanish or Portuguese (your choice at checkout). Transport from Lisbon city center, park entry and a small group of no more than a dozen travelers are included. Suitable for all fitness levels.

Step-by-step itinerary

Stops and time spent at each

1. Marquis of Pombal Squarepassing by
2. Cabo da Roca2h

Sintra tour and Cabo da Roca hike

• Meet guide in Lisbon city center
• Tour Pena Palace exteriors
• Wander Sintra village streets
• Hike 5km along Cabo da Roca
• Admire Praia da Adraga beach

The experience

You meet your guide at Marquis of Pombal Square in central Lisbon and travel by air-conditioned van or minibus to Sintra. The first stop is Pena Palace, where you tour the exterior grounds: the colorful Romantic-era palace sits high on a hilltop, and the park entry ticket is included. From there, the group walks through Sintra village itself, a place of narrow streets and traditional architecture that has drawn artists and writers for centuries.

The hike begins at Cabo da Roca, Europe's westernmost point. The 5km trail runs through the Sintra forest with the Atlantic Ocean visible throughout: the path stays on the clifftops, so the views don't require scrambling or technical footing. This is described as a soft hike, meaning it is paced for mixed fitness levels and does not demand climbing experience. The route ends at Praia da Adraga, a rocky beach where caves and tunnels carved into the stone create a landscape unlike the sandy beaches most visitors expect. The rocks and natural formations are the draw here, not a traditional swimming beach.

The whole outing runs 6.5 hours from pickup to return. You choose your guide's language (English, Spanish or Portuguese) when you book. Tips are optional. Food and drinks are not included, so bring water for the hike and plan a meal in Lisbon before or after.

What’s included

• Transport from Lisbon city center in an air-conditioned van or minibus.
• bilingual guide in English, Spanish or Portuguese.
• entry tickets to Pena Palace park.
• guided walking tour through Sintra village.
• the 5km hike through Cabo da Roca Natural Park with clifftop views of the Atlantic and Sintra forest.

Options for this experience

3 options

Small group tour in English08:00Guide in English

Small group tour in Spanish08:00Guide in Spanish

Small group tour in Portuguese08:00Guide in Portuguese

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

Before you book

Days and timesEvery dayDeparts at 08:00

Book up to12h before

AgesAdult (8 and older) · Child (4 to 7 years) · Under 4: can't be booked

GroupUp to 12

Live guideEnglish, Spanish and Portuguese

Meeting point and pickupNo hotel pickup: you go to the meeting point. Ends back at the starting point.

Cancellation and refundsFree cancellation up to 24 h before the start. After that, no refund.It may be canceled due to bad weather or if the minimum number of travelers isn't reached. If that happens, you're offered another date or a refund.

Prices and times updated today

Good to know

Low physical effort

Operated by World Experience

Is this one for you?Choose this tour if you want to see Pena Palace's exterior, walk Sintra's village streets, and hike 5km along the Cabo da Roca cliffs in one outing: all guided so you move between locations without navigating yourself.

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Top questions

What languages is the tour guided in?

Live guide in English, Spanish and Portuguese.

Can children come?

Yes. Ticket types: Child (4 to 7 years). Children under 4 can't be included in the booking.

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 24 h before the start.

How difficult is the 5km hike at Cabo da Roca?

The hike is described as soft and suitable for all physical fitness levels. It follows a clifftop path through the Sintra forest with ocean views throughout, but does not involve scrambling, climbing or technical terrain.

What exactly do I see at Pena Palace on this tour?

You tour the exterior grounds and park of Pena Palace, the colorful Romantic-era palace perched on a hilltop. The park entry ticket is included. Interior palace rooms are not part of this tour.

Where does the tour pick me up in Lisbon?

You meet your guide at Marquis of Pombal Square in Lisbon city center. Hotel pickup is not included. You arrange your own transport to the meeting point.

What is Praia da Adraga like compared to other beaches near Lisbon?

Praia da Adraga is a rocky beach in the Sintra-Cascais region, known for its distinctive caves, tunnels and stone formations rather than sand. It is a natural, preserved environment where the rock landscape is the main feature.

Is lunch included, and where do we eat?

Food and beverages are not included on this tour. You should eat before departing Lisbon or bring snacks. The hike itself does not include a meal stop.