Sintra and Cascais Semi Private Day Trip from Lisbon with Pena Palace

Explore two of Portugal’s most beautiful villages and take in the view from the Roca Cape cliffs!

Travel Flexibly · 8.00h · Lisbon, Portugal

Searching for the best day trip from Lisbon? On this small group tour, your local guide will take you to the magical village of Sintra, where you’ll marvel at the famous Pena Palace and enjoy free time to explore the old town at your leisure. Afterwards, admire the views from the Roca Cape cliffs and the powerful waves of Guincho beach before wandering around the coastal town of Cascais. Stroll along the bay, stop for a delicious waterfront lunch, or lay out on the beach— the choice is yours!

  • Sintra and Cascais Semiprivate Day Trip from Lisbon with Pena Palace
  • Semiprivate Roundtrip Transportation​
  • Pena Palace​
  • Pena Park​
  • Moorish Castle​
  • Sintra Town​
  • Cabo da Roca cliffs​
  • Cascais

Begin your adventure by heading to the Hard Rock Cafe in Lisbon, where your friendly guide will be waiting outside to meet you and your small group of fellow travelers. After hopping into your comfortable minivan, you’ll be driven to the picturesque village of Sintra.

Marvel at the beauty of Pena Park, where you’ll discover the immaculate Pena National Palace. Explore the impressive architecture and vibrant colors of this iconic palace, followed by free time to explore Sintra’s old town.

Before leaving the area, you’ll also be driven to the famous Roca Cape cliffs to capture breathtaking photos of the westernmost point of Continental Europe.

Finally, you’ll visit the coastal village of Cascais, where you’ll have the opportunity to roam through this idyllic town at your leisure. Stop for a delicious lunch, stroll along the waterfront, or soak in the sun at the local beach!

On your way back to Lisbon, your guide will point out the town of Estoril, famous for its prominent casino!

Lisbon Day Trip Tour Description

Your 8-hour tour includes:

  • Local, English-speaking guide

  • Roundtrip transportation to and from Lisbon in air-conditioned minivan

  • Pena Palace and Park tickets

  • Free time to explore Sintra old town

  • Visit Cascais

  • See the Roca Cape cliffs

  • Small group of only 8 people max

Depart from Lisbon

Your magical day trip begins at your designated meeting point in Lisbon, just outside of the Hard Rock Cafe. From here, your enthusiastic guide will be waiting to greet you, along with your small group of fellow travel-lovers. This tour only allows for 8 participants at most, so you’ll enjoy plenty of personalized attention and one-on-one time with your knowledgeable guide!

Once all your group members have arrived, hop into your comfortable minivan, buckle your seatbelt, and get ready for an absolutely unforgettable adventure!

Visit Pena Park and Pena National Palace

Soon enough, you’ll arrive to the breathtaking town of Sintra. Your first stop in this enchanting area will be the spectacularly verdant Pena Park. Follow your guide down hidden trails before arriving at the iconic Pena National Palace. Draped in vibrant hues of yellow and red, this picturesque palace dates back to the 19th century and is the crown jewel of Sintra. Built by King Ferdinand II as a royal summer residence and constructed on the ruins of and old monastery, the palace reflects a blend of architectural styles, including Romanticism and Moorish influences As you marvel at the palace’s intricate architecture, climb up to the top where you’ll be rewarded with jaw-dropping views of the historic Castle and its lush gardens.

Explore Sintra’s Old Town

After immersing yourself in the beauty of Pena Palace, enjoy free time to wander through Sintra’s charming old town. As you stroll, savor delicious Portuguese pastries, including Travesseiro and Queijada. The village of Sintra is considered a UNESCO World Heritage Town, and it’s not hard to see why. As you pass through the colorful streets of this idyllic village, make sure to have your camera handy to capture every photogenic corner.

Admire the View from Cabo da Roca

Once you’re reunited with your group, hop back in your van as you continue exploring some of Portugal’s most picturesque gems. Peer out of your window as you drive through the lush Sintra Natural Park, which is brimming with stunning, natural wonders.

Before leaving the area, you’ll stop at the awe-inspiring Roca Cape cliffs. These famous cliffs are the westernmost point in Continental Europe, and provide incredible photo opportunities! Take in the magnificent views before moving on to your next stop of the day.

Wander Through Cascais

Enjoy a scenic drive along the coast before reaching Cascais, your final stop of the day. As you’re driven to this seaside village, you’ll pause to admire the powerful waves of Guincho beach. As you can imagine, this legendary beach serves as a haven for surfers, kite-surfers, and windsurfers.

Once you arrive in Cascais, you’ll enjoy free time to explore the lovely village at your leisure. Stop for lunch at one of the many seaside restaurants, stroll along the bay, or soak in the sun at the town’s stunning beach.

Return to Lisbon

After discovering Cascais’ coastal beauty, it’s time to make your way back to Lisbon. Along the way, you’ll pass by Estoril, a popular tourist town known for its lively casino. Once you’re back in Lisbon, you’ll be dropped off at your original meeting point, conveniently located in the city center.

What you get with this tour
Roundtrip transportation in air-conditioned minivan
Local, English-speaking guide
Pena Park and Pena Palace tickets with guided visit
Free time in Sintra old town
Marvel at the amazing Roca Cape cliffs
Wander through the stunning town of Cascais
Pass by the exciting town of Estoril and its Casino
Intimate group of only 8 people at most
Hotel pick-up and drop-off
Guide gratuities
Food and drinks
Tripadvisor Logo

See what people are saying

0 total reviews

Leave a review
0.0/5 (based on 0 reviews)
5 stars
4 stars
3 stars
2 stars
1 stars

Frequently Asked Questions

What to bring?

We suggest wearing comfortable shoes, and dressing according to the season

What to bring?

We suggest wearing comfortable shoes, and dressing according to the season

Is this tour run by The Tour Guy?

This tour is operated by one of our trusted and vetted partners in Lisbon

What if I have concerns about my mobility on this tour?

Unfortunately, due to the transportation and walking involved at each destination, this tour is not wheelchair accessible and may not be suitable for guests with other mobility concerns

What happens if it rains?

We run our Lisbon Day Trip tour rain or shine. If rainfall is extremely heavy, the tour may be subject to cancellation or rescheduling for safety reasons

Is there any chance my tour might be canceled?

On the rare occasion the tour is canceled, we'll inform you as soon as possible. We will work with you to reschedule your tour when possible or provide a full refund

Is there a dress code to enter the religious sites on this tour?

There is no dress code for this tour, though we recommend wearing comfortable shoes

How comprehensive is this tour?

In the spirit of seeing as much of each location in one day as possible, each section of this tour is abbreviated. You'll still get to experience all the most important elements of these impressive attractions and towns though

Is lunch included in the price of the tour?

Lunch is not included but you'll have a break to find delicious food. Our guide will be happy to recommend one of our favorite spots

Can I bring my kids and do I have to pay for them?

Kids of all ages are welcome, and children 11 and younger pay a reduced fee

Why do I have to pay for my child who's under 11 years old?

Since this trip includes transportation, all passengers on the tour must be seated for safety and legal reasons. That means a young child takes up the same space as a youth or adult. For peace of mind, we can bring a car seat for children who need one, so please let us know in the comment box on the order confirmation page

Does this tour include hotel pickup?

Hotel pickup is not included on this tour. You’ll meet your guide at the designated meeting point, in front of the Hard Rock Cafe in Lisbon

Where does this tour end?

This tour ends back at your designated meeting in Lisbon

Start From: $107.35

available days discounted days

Free 24-hr cancellation on group tours! Learn more

Reserve Now $107.35 / per person
$107.35 / per person
You may also like
Sintra Day Trip from Lisbon

Sintra Day Trip from Lisbon

Visit Pena Palace, roam through beautiful Sintra, and hike through Cabo da Roca and Praia da Adraga!

Pena Palace Tour and Winery Experience from Lisbon

Pena Palace Tour and Winery Experience from Lisbon

Discover Sintra’s charm and sip wine at one of Torres Vedras’ renowned wineries

Lisbon 4WD Winery Tour and Tasting Experience

Lisbon 4WD Winery Tour and Tasting Experience

Ride through vineyards and sip wine paired with local bites in Lisbon’s Wine Region

Sintra, Nazaré, and Fátima Day Trip from Lisbon

Sintra, Nazaré, and Fátima Day Trip from Lisbon

Witness colossal waves, Pena Palace, the renowned Fátima Mass, and more alongside an expert guide

New Tour

New Tour

Lisbon Day Trip to Óbidos, Nazaré and Porto

Wander through a medieval village, visit a charming fishing town, and admire the iconic Duoro River!

New Tour

New Tour

Ultimate Lisbon Food & Wine Walking Tour

Sample ginjinha, bifana, codfish cake, and more while uncovering tucked-away taverns in Baixa and Ro

Thumbnail

Thumbnail

Fatima, Nazaré, and Óbidos Semiprivate Semiprivate Day Trip from Lisbon

Discover three of Portugal’s most picturesque towns and enjoy a traditional tasting of Ginja liquor!