Sintra & Cascais: Pena Palace, Moors Castle & Cabo da Roca Private Tour

Two Palaces, One Coastline, No Queues

You visit two of Portugal's most iconic monuments in Sintra without waiting in line, explore the westernmost point of continental Europe at Cabo da Roca, and drive the scenic coastal route through Cascais and back along the marginal road. Transport, both palace and castle entries, a guide, water and WiFi are all included, so you're not managing tickets or navigation on your own.

Step-by-step itinerary

Stops and time at each

1. Castle of the Moors1h · entry included
2. Pena National Palace2h · entry included
3. Sintra1h
4. Cabo da Roca30m
5. São Jorge Castle1h
6. Boca do Inferno20m

Explore Sintra and Coastal Highlights

• Visit Castle of the Moors
• Tour Pena National Palace and Park
• Explore Sintra village center
• Visit Cabo da Roca viewpoint
• Stop at Guincho Beach
• Admire Boca do Inferno views
• Visit Cascais village

The experience

Our guide, João, was waiting by the hotel lobby with a thermos of coffee and a small smile when I mentioned I'd never seen Sintra before. He nodded like he'd heard that a hundred times, and then said something that stuck: "You'll understand why the kings built here." The drive from Lisbon takes about forty minutes, and João uses it to walk you through what's coming. The Castle of the Moors first, built around the 10th century after the Muslim conquest, then the Pena Palace, which is basically a 19th-century fever dream in yellow, red and blue perched on the mountain. Both have skip-the-line entry included, which means you're not standing in a queue while the light changes.

The castle sits on cliffs that drop toward the Atlantic, and the trails loop through the fortification in a way that feels less like a museum and more like walking through someone's idea of what a castle should be. The palace is different. It's meant to be seen from the park, and the park itself has over five hundred tree species planted from around the world, so you're moving through something that's both romantic and a little overwhelming. You get free time in Sintra's historic centre to grab the regional sweets everyone talks about, and then the tour heads west to Cabo da Roca, the westernmost point of continental Europe. The view there is just ocean and cliff, and it's the kind of place where you understand why people used to think the world ended.

After that comes the coastal stretch, Praia do Guincho with its sand dunes, then Boca do Inferno, where the rocks meet the Atlantic in a way that looks like it could swallow something, and finally Cascais itself, the elegant seaside town with the bay that's been drawing people since the 19th century. The drive back follows the marginal road by the sea, which means you're not retracing the same route. The whole day is about eight to nine hours out of Lisbon, and because it's private, the pace is yours. If you want to linger at the palace gardens or spend an extra twenty minutes at the cape, you just say so.

What’s included

Your day includes private transportation in an air-conditioned vehicle with WiFi and bottled water, entrance to both the Castle of the Moors and Pena Palace with skip-the-line access, a guide who provides information throughout, and free time to explore Sintra's historic centre. The route covers Cabo da Roca, Praia do Guincho, Boca do Inferno, and Cascais, with the return journey along the coastal marginal road.

Before you book

Days and timesEvery day5 departure times: the first at 08:30, the last at 10:30

AgesAdult (18 and older) · Youth (13 to 17 years) · Child (6 to 12 years) · Infant (under 6)

Meeting point and pickupHotel pickup included.

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 4 days ago

Good to know

Easy physical levelStroller friendlyInfant seats availablePets welcomePublic transport nearby

Operated by LRS, Private tours

Is this one for you?Right for travelers based in Lisbon who want Sintra's main monuments and the coast in one day without arranging transport or standing in entry lines. The full-day format is what makes visiting two palaces, the westernmost point of Europe, and the Cascais coastline possible in a single outing.

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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: Youth (13 to 17 years); Child (6 to 12 years); Infant (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.

How long is the tour?

A full day, typically eight to nine hours from Lisbon, with timing flexible based on how long you want to spend at each stop.

Are entrance fees included?

Yes. Entry to the Castle of the Moors and Pena Palace are both included, and skip-the-line access means no queue time.

What's the drive time from Lisbon?

About forty minutes to Sintra, then the tour moves between sites. The return to Lisbon follows the coastal marginal road.

Is the guide included?

Yes, an experienced guide is part of the tour and provides information throughout the day.

Can I spend free time in Sintra town?

Yes, the itinerary includes free time to explore the historic centre and taste traditional regional sweets.

Is water provided?

Yes, bottled water is included. The vehicle is air-conditioned and has WiFi on board.

What's the difference between the castle and the palace?

The Castle of the Moors is a 10th-century fortification on cliffs with panoramic trails. Pena Palace is a 19th-century romantic palace set in a park with five hundred tree species.