Sintra, Pena Palace & Cascais: Private Day Trip from Lisbon

Summary

Sintra’s palaces, gardens, ocean cliffs and pastry shops in one day

You’ll journey from Lisbon to Sintra’s magical palaces and gardens with a local guide who knows every shortcut. Taste fresh pastries in town squares, gaze out over cliffs at Cabo da Roca, and end your day wandering Cascais by the sea — all with easy pickup and comfy transport.

What’s the experience like?

We set off from Lisbon with sleepy eyes and pastel de nata crumbs on our shirts — I don’t think anyone was ready for how green Sintra would be. Our guide, Joana, navigated the winding roads like she’d done it a thousand times (she probably has). First stop: Quinta da Regaleira. The mossy stone steps were still damp from morning fog, and Joana told us about secret societies while we peered down the Initiation Well. I tried to imagine what it would’ve felt like to climb those spiral stairs in the dark — honestly, a little spooky.

The Sintra National Palace was next, all blue-and-white tiles and those funny twin chimneys. It smelled faintly of old wood and something sweet drifting in from the street outside. We wandered through rooms that felt frozen in time — Joana pointed out details I’d have missed on my own (like how one ceiling was painted with magpies because of royal gossip; who knew?). After that came Pena Palace, which looked almost unreal through the mist — bright yellow walls popping out of the clouds. The air up there tasted cold and metallic, and my photos don’t do it justice at all.

I nearly lost track of time at the Castle of the Moors, just staring out over the hills and rooftops below. It’s windy up there — bring a jacket if you go! Lunch was quick but good: salty cod cakes and travesseiros from a tiny bakery where the lady behind the counter winked when I tried to order in Portuguese (I butchered it). We sipped Ginjinha in chocolate cups after, which is as fun as it sounds.

Cabo da Roca was wild — cliffs dropping straight into crashing waves, sea spray stinging your face if you stand too close. On our way back, we stopped in Cascais for a stroll by the beach. Kids were chasing pigeons near pastel-painted houses; someone played guitar by a café window. By then I was tired but happy — you know that feeling when your feet ache but your head’s buzzing with new sights? That’s what I took home.

Step-by-step itinerary

Day 1 — Full-day tour of Sintra and coast

• Pickup in Lisbon area
• Visit Quinta da Regaleira
• Pass by Sintra National Palace
• Visit Pena National Palace
• Visit Castle of the Moors
• Pass by Monserrate Palace
• Explore Sintra town and taste pastries
• Visit Cabo da Roca
• Optional stop at Sintra coast village
• Visit Cascais town
• Return to Lisbon

Top questions

Is hotel pickup included for this Sintra day trip?

Yes, pickup is available anywhere in Lisbon city area for this private tour.

How long does the private Sintra & Cascais tour last?

The full-day tour typically lasts around 8–9 hours including travel time.

Are entrance fees to Sintra’s monuments included?

No, entrance fees are not included; you can choose which sites to enter on arrival.

Is lunch provided during the tour?

No set lunch is included; you’ll have free time to buy food or pastries in Sintra.

What kind of vehicle is used for transport?

You’ll travel in a private air-conditioned car or van depending on group size; UMM jeeps may be used if preferred or weather allows.

Can infants join this private day trip?

Yes, infants are welcome; infant seats are available upon request.

Does this tour include stops at Cabo da Roca?

Yes, Cabo da Roca is included as part of the itinerary before heading to Cascais.

Will we have free time in Sintra village?

Yes, you’ll have time to explore shops or try local pastries like travesseiros and queijadas.

What’s included

Your day includes private hotel pickup in Lisbon, comfortable air-conditioned transport with bottled water throughout, guidance from a knowledgeable local (except inside monuments), insurance coverage for peace of mind, plus a sweet treat: Ginjinha served in a chocolate cup during your wanderings in Sintra before returning to Lisbon at sunset.