Sintra day tour from Lisbon: Pena Palace, Regaleira & Cascais

Medieval streets, a 19th-century palace on a hilltop, and the westernmost edge of Europe in one morning and afternoon

A full-day guided tour from Lisbon to Sintra, a UNESCO World Heritage Site, visiting Pena Palace, Quinta da Regaleira, Roca Cape and Cascais by minivan with hotel pickup included. The tour runs 8 hours with a professional guide speaking English, Spanish, Portuguese and Italian, and stays under 8 people per group. Quinta da Regaleira and Pena Palace entries are optional. The guide helps arrange tickets on the day. Lunch is on your own during free time in Sintra's medieval center.

Step-by-step itinerary

Stops and time at each

1. Campo de Ourique Marketpass by
2. São Jorge Castlepass by
3. Cabo da Roca30m
4. Quinta da Regaleira1h
5. Sintra1h
6. Pena National Palace1h 30m

Explore Sintra and Atlantic Coast

• Start tour in Lisbon
• Travel along Atlantic Coast to Cascais
• Admire Cascais bay
• Pass by Guincho Beach
• Visit Cabo da Roca, westernmost point
• Guided visit to Quinta da Regaleira initiation well
• Explore Quinta da Regaleira gardens
• Walk historical center of Sintra
• Free time for lunch in Sintra
• Visit Pena Palace and gardens

The Experience

You start in Lisbon and travel by air-conditioned minivan along the Atlantic coast toward Cascais, passing Guincho Beach and the Cascais bay before heading inland to Sintra. The route itself is part of the day: the driver navigates the coastal views and the national park roads that frame the town, pointing out the Moorish Castle and Monserrate Palace as you approach.

Once in Sintra, you walk the medieval streets on foot and have time for lunch in the historic center, where you can taste a local pastry called Travesseiro de Sintra if you want. Quinta da Regaleira comes next: a palace surrounded by gardens, lakes, grottoes and enigmatic structures tied to Freemasonry and alchemical traditions. A guide leads you through the initiation well, then you have free time to explore the grounds at your own pace. Entry is optional and the guide helps you buy tickets when you arrive.

Pena Palace, one of Portugal's seven wonders and a masterpiece of 19th-century Romanticism, sits on a hilltop overlooking the region. You get free time to visit the palace and its gardens: again, entry is optional and the guide arranges tickets. From there, the tour continues to Roca Cape, the westernmost point of continental Europe, before returning along the coast through Estoril and back to Lisbon. The whole day is eight hours door-to-door.

What’s included

• Hotel or apartment pickup and drop-off in Lisbon.
• air-conditioned minivan.
• professional guide in your choice of language.
• small group of 8 people maximum.
• visits to Sintra's medieval center, Roca Cape and Cascais.
• guided walk through the initiation well at Quinta da Regaleira.
• free time to explore Quinta da Regaleira gardens and Pena Palace (entry tickets purchased separately if you choose to visit).

Days and timesDaily · 08:00

AgesAges 12+ · 6 to 11 years · Under 6

Meeting point and pickupHotel pickup

Cancellation and refundsFree cancellation up to 24h 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 yesterday

Good to know

Easy physical levelPublic transport nearby

Operated by Lisbon Native, Lda

Is this one for you?The tour runs eight hours with walking through Sintra's streets and the grounds of Quinta da Regaleira, so a moderate pace and comfortable shoes matter. If you want to see multiple landmarks in a single day without driving yourself or arranging transport between them, the minivan and fixed itinerary keep everything connected. You move between sites while the guide handles the route and timing.

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Top questions

What languages is the guide in?

Live guide in English, Spanish, French, Italian and Portuguese.

Can children come?

6 to 11 years; under 6.

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 24h before the start.

What's the difference between visiting Quinta da Regaleira and Pena Palace on this tour?

Both Quinta da Regaleira and Pena Palace are optional stops where you choose whether to buy entry tickets. At Quinta da Regaleira, a guide leads you through the initiation well first, then you explore the gardens and grottoes freely. At Pena Palace, you have free time to walk the palace and its grounds on your own. The guide helps arrange tickets at both sites when you arrive.

Does the tour include lunch?

Lunch is not included. You have free time in Sintra's medieval center to eat on your own, and the guide can point you toward local restaurants and cafes.

How many people travel together on this tour?

The tour is a small-group experience with a maximum of 8 people per minivan, so you're not on a large coach.

Where does the tour pick me up and drop me off?

Pickup and drop-off happen at your Lisbon hotel or apartment. The tour only operates pickups within Lisbon, so make sure your accommodation is in the city.

What is Roca Cape and why is it on the itinerary?

Roca Cape (Cabo da Roca) is the westernmost point of continental Europe, located on the coast between Sintra and Cascais. It's a landmark stop that gives you a sense of standing at the edge of the continent, and the drive there takes you along the Atlantic coast with views of the ocean and nearby beaches.