Sintra & Cascais: Pena Palace, Cabo da Roca & Coastal Towns

Pena Palace & Europe's Edge: A Day Beyond Lisbon

You get a guided tour of Pena Palace's colored rooms and history, free time to explore Sintra's streets and taste local pastries, 30 minutes at Cabo da Roca's Atlantic cliffs, and an afternoon in Cascais's marina and old town: all in one day with a small group in a comfortable van, entry and guide included, returning to central Lisbon by evening.

Step-by-step itinerary

Stops and time at each

1. Pena National Palace2h · entry included
2. Cabo da Roca30m

Explore Sintra, Cabo da Roca, and Cascais

• Meet at Lisbon Av. da Liberdade 11B
• Guided tour of Pena Palace
• Free time in Sintra historic center
• Visit Cabo da Roca cliffs and views
• Free time in Cascais town
• Return to Lisbon meeting point

The experience

So you're standing in front of this palace and it's just. It's not what you expected. Pena Palace in Sintra sits up there in these wild colors, Romantic and Moorish and Renaissance all mixed together, and your guide is already telling you the stories behind why it looks like that. The whole thing takes about two hours, and you're walking through rooms that actually make sense once someone explains them to you. The drive from Lisbon takes 45 minutes, and then another 15 to get down into Sintra's center, where you've got an hour and a half to wander the narrow streets, grab one of those famous local pastries, or just sit in a café and let it sink in.

After Sintra, the van heads west for 30 minutes to Cabo da Roca, and this is the part that stays with you. It's the westernmost point of continental Europe, and the cliffs just drop into the Atlantic. You get about 30 minutes there, which sounds short until you're standing at the edge and realize you can see all the way to nothing. The wind is real. The scale is real. Then it's another 30 minutes to Cascais, this elegant little coastal town with a marina and beaches and a historic center that doesn't feel like it's been turned into a souvenir shop. You've got an hour and a half there too, so you can actually sit down, walk the waterfront, or grab dinner before the 40-minute drive back to Lisbon.

The van is a Mercedes with air conditioning and water included, and the groups stay small, maximum eight people. Your guide speaks your language, or if the group is mixed, they'll handle both fluently. You're picked up at Avenida da Liberdade in central Lisbon and dropped back at the same spot. Pena Palace entry is already paid for, so you're not figuring that out at the gate.

What’s included

Your day includes hotel or central Lisbon pickup at Avenida da Liberdade, a guided tour of Pena Palace with entry included, free time to explore Sintra's historic center and taste local pastries, 30 minutes at Cabo da Roca's Atlantic cliffs, an afternoon in Cascais to walk the marina and beaches, transport in a premium air-conditioned Mercedes van with complimentary water, and return to your starting point in Lisbon by evening.

Options for this experience

2 options

Small group day tour from Lisbon covering Sintra, Pena Palace, Cascais and CaboGuide in 4 languages · 08:45

Full-Day Private TourGuide in 4 languages · 08:45Enjoy a private tour in a comfortable SUV for up to 3 people. Only your chosen group and a dedicated guide travel with you.

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 08:45

Book up to4h before

AgesAdult (6 to 80 years) · Under 6: can't be included in the booking

GroupUp to 32 · max 8 per booking

Live guideEnglish, Spanish, Italian 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.

Prices and times updated 4 days ago

Good to know

Moderate physical levelPublic transport nearby

Operated by Unique Journeys

Is this one for you?Choose this if you want the main sights around Lisbon (palace, cliffs, coastal town) in one day without renting a car or figuring out trains and timings yourself. The small group and fixed schedule mean you see all four places and still have breathing room in each one.

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Top questions

What languages is the guide in?

Live guide in English, Spanish, Italian and Portuguese.

How long is the full tour?

About 6 hours total, including drive time. The palace tour is roughly 2 hours, with 1.5 hours free in Sintra, 30 minutes at Cabo da Roca, and 1.5 hours in Cascais.

Is Pena Palace entry included?

Yes. Palace tickets are included in the tour price. You don't pay separately at the gate.

What's the maximum group size?

Eight people per van. It's a small-group tour, so you're not on a large coach.

How far is Sintra from Lisbon?

About 45 minutes by van from the meeting point on Avenida da Liberdade.

Can I have lunch in Sintra?

Yes. You have 1.5 hours of free time in Sintra's historic center, where you can eat, shop, or taste local pastries like Travesseiros de Sintra.

Is the van air-conditioned?

Yes. It's a premium Mercedes van with air conditioning and complimentary bottled water.

Where do I meet the tour?

At Avenida da Liberdade 11B, 1050-139 Lisboa, Portugal. You're returned to the same point at the end.

Is this tour suitable for people with mobility issues?

It's not recommended for people with mobility issues. The palace involves walking and stairs, and Cabo da Roca is a clifftop site.

What's included in the price?

Pena Palace entry, guide, air-conditioned transport, bottled water, all fees and taxes, and restaurant recommendations. You pay separately for meals and any shopping.