Sintra & Pena Palace Day Trip from Lisbon with Cabo Roca

Pena Palace sits on a hilltop you can see from miles away, and you'll stand inside it by mid-morning

You're picked up from your hotel and driven to Sintra to tour Pena Palace with entry included and free time in the medieval village. After lunch, the route takes you to Cabo da Roca (Europe's westernmost point) and the fishing village of Cascais, passing Estoril and coastal landmarks. The full day in a small group with a local guide and air-conditioned transport means you cover three distinct places without arranging tickets, timing, or navigation yourself.

Step-by-step itinerary

Stops and time at each

1. Campo de Ourique Marketpass by
2. Castle of the Moorspass by
3. Pena National Palace1h 30m · entry included
4. Sintra National Palacepass by
5. Sintra30m
6. Cabo da Roca20m
7. Boca do Infernopass by
8. São Jorge Castle15m

Explore Sintra and Coastal Highlights

• Pass by Campo de Ourique Market
• Arrive Sintra, pass old village
• Pass by Moorish Castle
• Guided visit Pena Palace
• Visit medieval Sintra village
• Stop at Cabo da Roca
• Drive through Estoril
• Visit Cascais fisherman village

The experience

The palace itself is the thing that stops you. Pena Palace isn't subtle. It's a 19th-century royal retreat painted in mustard and cream, perched high enough that you feel like you're walking into a storybook the moment you arrive. The tour picks you up from your Lisbon hotel and drives you out to Sintra in an air-conditioned minivan with a small group (never more than a handful of people), which means you're not herded through with fifty others. Your guide takes you inside for a proper look around (the ticket is included), and then leaves you free time to wander the old medieval village below, where the streets are narrow and the light changes every few minutes as you turn a corner.

After lunch, the route heads west to Cabo da Roca, the actual westernmost point of continental Europe. It's not a long stop, but standing at that edge with the Atlantic in front of you and the land behind you does something. The wind is real there. Then you pass through Estoril (where Ian Fleming wrote parts of James Bond while living on the coast during World War II) and end up in Cascais, a fishing village that's kept its character even though it's close enough to Lisbon that you could drive back in under an hour. You'll see Guincho Beach and Boca do Inferno (a rocky inlet where the waves crash hard enough that the locals named it "Hell's Mouth") before heading back to the city as the afternoon cools.

The whole day runs from morning to early evening, which gives you time to see the palace properly without rushing, eat without watching the clock, and still have the evening free when you get back. Small groups mean the pace doesn't feel forced, and having a local guide means you get the context: why the palace looks the way it does, what Sintra meant to the Portuguese kings, how the coast changed. It's the kind of day trip where you're not just checking boxes. You're actually seeing why these places mattered.

What’s included

• Your day includes hotel pickup in Lisbon, transport in an air-conditioned minivan with a small group, a local guide for the full day, entry and guided visit to Pena Palace (if that option is selected), free time to explore Sintra's medieval village and the palace grounds, stops at Cabo da Roca and Cascais with time to walk around each, and return transport to your hotel.
• A lunch break is built into the itinerary so you can eat at your own pace.
• The tour company holds Portugal's Clean & Safe seal and complies with health measures.

Options for this experience

2 options

Guide in 4 languages08:30

Guide in 4 languages08:30

You pick the guide language when booking. Options with the same name differ in details you'll see when you pick a date.

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

Before you book

Days and timesEvery dayDeparts at 08:30

AgesAdult (10 and older) · Child (under 10)

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

Cancellation and refundsFree cancellation up to 24h before the start. After that, no refund.

Prices and times updated 5 days ago

Good to know

Easy physical levelStroller friendlyInfant seats availablePublic transport nearby

Operated by Selection Tours, Lda.

Is this one for you?Pick this tour if you want to see Sintra's main sights (the palace, the village, the coast) in one day without renting a car or figuring out train schedules and timing yourself. Small groups and a local guide mean you get the story behind each place, not just the photo stop.

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Top questions

What languages is the guide in?

Live guide in English, Spanish, French and Portuguese.

Can children come?

Yes. Ticket types: Child (under 10).

How long is the tour?

The full day trip runs from morning pickup to early evening return, typically 8–9 hours including lunch and free time at each stop.

Is Pena Palace entry included?

Yes, the palace ticket is included in the tour price if you select that option at booking. Free time in the village is also part of the day.

What's included in the price?

Hotel pickup, transport in an air-conditioned minivan, Pena Palace entry and guided visit, local guide for the full day, and lunch break. Return transport to your hotel is included.

How many people are in the group?

It's a small group tour, so numbers stay manageable, not a large coach. A minimum of two people per booking is required.

Is this tour suitable if I'm not very fit?

The tour is suitable for all physical fitness levels. You'll walk around the palace and village at your own pace during free time, and most of the day is spent in the minivan or at viewpoints.

What if I don't want to go inside Pena Palace?

You can choose the option without palace entry at booking. You'll still visit Sintra, see the palace from outside, and continue to Cabo da Roca and Cascais.

Do I need to arrange my own lunch?

There's a lunch break built into the itinerary. You'll have time to eat in Sintra or elsewhere along the route. Lunch is not included in the package, so you choose where and what to eat.

What's Cabo da Roca?

It's the westernmost point of continental Europe, located on the Portuguese coast. The tour stops there so you can see the landmark and the Atlantic views.

Is there time to explore Cascais?

Yes. After Cabo da Roca, the tour visits Cascais fishing village, where you'll see the bay, Guincho Beach, and Boca do Inferno (a rocky inlet with dramatic waves) before returning to Lisbon.