Sintra Pena Palace Cascais tour from Lisbon small group

Explore Sintra’s magic without the hassle of driving or crowded buses

A guided tour from Lisbon to Sintra and the Atlantic Coast with a local guide, hotel pickup, and a small group capped at eight people. You visit Pena Palace with guide commentary, walk Sintra's medieval center, stand at Cabo da Roca (Europe's westernmost point), and explore the fishing village of Cascais. Quinta da Regaleira is optional and requires a separate ticket booked for the 11:30 slot. The tour runs nine hours and includes transportation only. Monument tickets and lunch are separate purchases.

Step-by-step itinerary

Stops and time spent at each

1. Pena National Palace1h 30m
2. Quinta da Regaleira1h

Explore Sintra and Atlantic Coast

• Drive through Lisbon downtown
• Visit Pena National Palace
• Walk Sintra historic center
• Optional visit to Quinta da Regaleira
• Visit Cabo da Roca western point
• Explore Cascais town center
• Drive back to Lisbon

The experience

The day starts with pickup at your Lisbon hotel or a meeting point in the city center, then the minivan heads toward Sintra. You'll pass through Campo de Ourique on the way out, and once in Sintra, the guide walks you through the narrow medieval streets of the historic center: the kind of place where the layout itself tells you how old it is. Pena Palace sits above the town, a 14th-century Romantic palace that counts as one of Portugal's seven wonders, and you'll have guided access to see it. The palace offers views down to Lisbon and the coast, though whether you go inside the rooms or stay on the exterior depends on which ticket slot you book in advance (9:30 for interior access, or exterior-only if the interior sells out).

After Sintra, the route heads west to Cabo da Roca, the westernmost point of continental Europe: a short stop to stand at the edge and take in the Atlantic. From there, you drive south along the coast to Cascais, a traditional fishing village where you'll have time to walk the center and see the waterfront. The whole arc from Sintra to the coast to Cascais is the scenic spine of the day. Quinta da Regaleira, a Gothic-Moorish estate with underground passages and gardens, sits within walking distance of Sintra's center. If you want to visit it, you'll need to book a separate ticket for the 11:30 entry slot on the official site and arrange that time with the guide.

The group stays small, eight people maximum, which means the minivan is not a tour bus and the stops don't feel like a cattle run. Hotel pickup and drop-off are included if you choose that option. If you prefer to meet the guide in the city center, that's available too. The guide speaks English, Spanish, or Portuguese live. French and Italian travelers can arrange a translator. Nine hours is a full day, and you'll need to be comfortable with some walking through Sintra's streets and around the palace grounds, though the tour suits all fitness levels.

What’s included

• Private minivan transportation for up to eight people.
• hotel pickup and drop-off in Lisbon (or meeting point in the city center if you prefer).
• guided tour of Pena Palace exterior or interior depending on your ticket choice.
• free time to explore Sintra's historic center.
• visits to Cabo da Roca and Cascais with guide commentary.

Options for this experience

3 options

Entrance tickets are not part of the priceGuide in English, Spanish or Portuguese · 07:30Lasts 8 hours by van

Pena Park and gardens ticketsGuide in English, Spanish or Portuguese · 07:30

Add Regaleira to your visit as an upgradeGuide in English, Spanish or Portuguese · 07:30

You pick the guide language when booking.

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

Before you book

Days and timesEvery day except Tuesday and FridayDeparts at 07:30

AgesAdult (18 and older) · Child (1 to 17 years)

GroupUp to 20

Live guideEnglish, Spanish and Portuguese

Audio guideFrench, German and Italian

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. If that happens, you're offered another date or a refund.

Prices and times updated 2 days ago

Good to know

Moderate physical effortPublic transport nearby

Operated by RoadTripLisboa

Is this one for you?Book hotel pickup if you're staying in central Lisbon. Choose the meeting point option if you're based elsewhere or prefer to start from the city center.

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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 (1 to 17 years).

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.

What's the difference between visiting Pena Palace inside versus just seeing the exterior?

Pena Palace offers two ticket options: interior access (rooms only, 9:30 slot) or exterior-only (park, chapel, viewpoints, terraces and towers, with guided commentary outside the building). If the interior sells out, the exterior ticket still gives you the palace views and grounds access. You book the ticket in advance and coordinate the timing with your guide.

Is Quinta da Regaleira included in the tour, or do I have to pay extra?

Quinta da Regaleira is optional and not included in the tour price. If you want to visit, you buy a separate ticket for the 11:30 entry slot on the official Regaleira website and let the guide know so the group can build that into the Sintra stop. Without it, you'll have free time to walk the medieval town center, visit a local café, or explore on your own.

Does the tour include lunch or snacks?

Lunch is not included. You'll have free time in Sintra and Cascais to eat at a local restaurant or café: Sintra is known for its pastry called Travesseiro if you want to try something local.

What happens if I book the meeting point option instead of hotel pickup?

If you choose the meeting point option, you'll meet the guide at a location in Lisbon's city center instead of being picked up at your hotel. The rest of the tour (the route, the stops, the guide, the group size) stays the same.

How much walking is involved in this tour?

You'll walk through Sintra's narrow medieval streets, around Pena Palace grounds, and through Cascais's town center. The tour suits all fitness levels, though some steps are involved. If you have reduced mobility or health concerns, let the operator know when you book, as steep terrain in Sintra may not be advisable for everyone.