from
$74
Sintra Day Trip by Minibus: Pena Palace, Cascais, and the Edge of Europe
With round-trip transport, visit historic hilltop terraces & the westernmost point of the continent
What's included
Visit 4 spectacular destinations in comfort
Expert English-speaking guide
Round-trip Minibus transport from Lisbon
Pena Palace exterior ticket
Stand on the edge of Europe at Cabo da Roca
Enjoy free time in the coastal town of Cascais
Pause in Sintra for free time
Guide tips
Lunch and drinks
Interior ticket to Pena Palace
Itinerary
Sintra & Cascais from Lisbon with Pena Palace Guided Day Trip
Stand where Europe ends at Cabo da Roca, visit cliff village Azenhas, and enjoy free time by the sea
Your tour begins in central Lisbon
Your day begins at a convenient central meeting point in Lisbon. Board the comfortable, air-conditioned minibus and head west toward the Atlantic coast during a scenic drive to Cascais.
Stroll along the Cascais bay
Pull into the sun-drenched seaside village of Cascais and enjoy free time to stretch your legs along the bay. Grab a quick coffee or pastry snack at a marina cafe, then explore the sandy beaches of this former royal retreat.
Stand at the edge of continental Europe
Continue along the rugged Guincho coastal road to reach Cabo da Roca, the westernmost point of mainland Europe. Free time at the lighthouse lets you photograph cliffs plunging to the Atlantic below.
Wander Sintra's historic center for lunch
Then roll into Sintra Center to explore quaint cobblestone streets, colorful facades, and pastry shops. Find a nice spot for lunch during your walk, or ask your guide for recommendations.
Admire Pena Palace from the terraces
Step onto the sun-soaked terraces of the red-and-yellow Pena Palace, a delightfully whimsical 19th-century castle. Stroll through forested gardens to the hilltop lookouts that frame the Moorish Castle and endless expanses of trees and water.
Your tour ends back in central Lisbon
Cruise back to Lisbon after a delightful day of exploring, arriving in the city center. Ask your guide for dinner recommendations before heading off to enjoy your night.
For Reference Only. Itineraries are subject to change
Select participants and date
Start times are in the product’s local time
Free cancellation up to 24 hours in advance!
Mon, 28 Sep 2026
Meeting and drop-off point
Important Details
Discover what to expect, what's included, and everything you need to know before booking.
Good to know:
Accessibility: Unfortunately, this tour is not wheelchair accessible due to uneven terrain, cobblestone streets, and stairs at Pena Palace and other coastal stops. If you have concerns about your mobility, please contact us in advance to discuss your needs.
Dress Code: Comfortable attire and shoes are recommended for walking on uneven terrain, cobblestones, and outdoor viewpoints. A light layer is helpful for the Atlantic coast.
Lunch: Lunch is not included. You'll have free time in Sintra to choose from local restaurants and pastry shops; your guide will share recommendations.
Weather Advisory: Cabo da Roca can be windy and cool year-round, and Pena Palace can experience low cloud cover. Please check the weather forecast and dress accordingly.
Check-in: Arrive 15 minutes early for check-in at the meeting point so the group can depart on time.
Your 8-hour tour includes:
Expert English-speaking guide
Round-trip transport from Lisbon
Air-conditioned minibus
Pena Palace exterior ticket
Photo stops at Cabo da Roca
Free time in Cascais
Free time in Sintra Center
What to bring:
Comfortable walking shoes
Government-issued ID
Camera
Water bottle
Light jacket or layer
See what people are saying
4.93
137 Ratings
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Unexpected highlight of our trip.
Richard K.
September 23, 2026
Sergio is by far the best guide we've had. His knowledge of the tour areas was made even better by the the extra information about the area and even more so the details of the plants and the historical details that he was able to provide! Six stars!
Sintra
Kelly K.
August 07, 2026
Our guide Gonçalo was exceptional!!!
Family tour to Sintra
John L.
July 24, 2026
Our family group of 14 adults had a wonderful visit to Cascais, Sintra, and the Pena Palace! Our guide Rui was engaging and informative (and patient). Highly recommended.
Fantastic Small-Group Tour of Sintra and the Coast
Nevena I.
June 26, 2026
We had a wonderful day exploring Sintra, Pena Palace, Cascais, and Cabo da Roca. Since it was a small group of only six people, we really enjoyed the relaxed and intimate atmosphere, which made the experience even more personal. Gonçalo was an excellent guide, friendly, knowledgeable, and passionate about the region. He shared interesting stories and local insights throughout the tour, making the experience both enjoyable and informative. The journey was very comfortable in an air-conditioned private van/minibus, and the itinerary was well organized. The scenery was breathtaking, and for the price, this tour offered incredible value and an unforgettable experience. Highly recommended!
Fantastic Small-Group Tour of Sintra and the Coast
Nevena I.
June 26, 2026
We had a wonderful day exploring Sintra, Pena Palace, Cascais, and Cabo da Roca. Since it was a small group of only six people, we really enjoyed the relaxed and intimate atmosphere, which made the experience even more personal. Gonçalo was an excellent guide, friendly, knowledgeable, and passionate about the region. He shared interesting stories and local insights throughout the tour, making the experience both enjoyable and informative. The journey was very comfortable in an air-conditioned private van/minibus, and the itinerary was well organized. The scenery was breathtaking, and for the price, this tour offered incredible value and an unforgettable experience. Highly recommended!
Amazing Day Trip to Sintra
Rachel L.
June 18, 2026
Our tour to Sintra and Cascais could not have been better. With only 5 people on the tour, it felt intimate and relaxed. Everyone was respectful of the schedule and returned to the bus on time, which allowed us to make the most of our day. The experience was made even more enjoyable by our guide, Goncalo, whose knowledge, professionalism, and friendly personality made for a perfect day. Highly recommend!
Beautiful day, dreamy locations
Kelly D.
June 15, 2026
We thoroughly enjoyed our small group tour to Cascais, Azenhas do Mar and Sintra. Our guide, Rui, did a wonderful job of sharing his extensive knowledge of the area, sharing with us some hidden gems and special views. This was absolutely the best way to explore the coast on a day trip from Lisbon by letting The Tour Guy handle all of the details and logistics.
Thoroughly enjoyable
Tom P.
June 10, 2026
A great tour, showcasing Cascais, Sintra and Pena Palace. Gonzalo was very knowledgeable and generous with his time and information. Good balance between guided tour and free time to explore.
Fabulous tour!
Jane H.
April 29, 2026
My husband and I took a fabulous tour with The Tour Guy. We were spending a few days in Lisbon and wanted to do a day trip from there but had no car. We found this tour which took us to Sintra to see the Pena Palace and then to Cascais. We stopped at two beautiful spots along the way. Our tour guide was great! She was very knowledgeable about the sites we were visiting. She was very personable and worked hard to make sure she provided a good experience for everyone. The company provided excellent correspondence prior to the day of the trip and everything went according to plan. We felt this trip was an excellent value and highly recommend the Tour Guy.
Seamless Sintra Adventure
Ivy R.
August 20, 2025
The tour was very impressive and made our Sintra visit easy. We’ve seen so much without feeling stressed. Highly recommend this efficient trip.
A Fairytale Come True
Tristan C.
August 17, 2025
We were enchanted by both the stunning Pena Palace and the mysterious gardens of Quinta. Best one-day trip ever from Lisbon.
Expert Guide, Smooth Day
David P.
August 15, 2025
Our guide was fantastic! So informative, entertaining, and organized everything perfectly. Made the entire day stress free and so much fun.
Charming Sintra Delights
Ellie R.
August 10, 2025
The town of Sintra itself was very pretty with its winding streets. Loved the exploring and eating the local pastries. History and charm in just the right measure.
Mystical Regaleira Magic
Sebastian N.
August 05, 2025
Quinta da Regaleira was like walking into a dream. My favorite was the Initiation Well -so special, and interesting. A must-see.
Ava P.
August 05, 2025
Emily M.
July 31, 2025
Highly Recommend
Lily H.
July 31, 2025
Dazzling do-it This Sintra day trip is one not to be missed! It was all well planned, the sites were amazing and our guide was fantastic. Don't miss the best experience from Lisbon.
Easy Lisbon Pickup
Bryce M.
July 30, 2025
The easy pick-up to and from hotel in Lisbon was a great way to start our day trip. No transport related hassles, simply good to go for Sintra.
Unforgettable Sintra
Levi L.
July 30, 2025
Every second in Sintra, from Pena's grandeur to Regaleira's enigmatic secrets was unforgettable. Such a well-formulated magical day, the best of the wonderful area.
Ideal First Visit
Isabella M.
July 29, 2025
For us first-timers to Sintra, the tour was totally perfect. It ticked all the boxes perfectly, showcasing all of the main sights effectively without being rushed.
Vibrant Pena Palace
Paisley H.
July 29, 2025
Pena Palace’s bright colors set against the green hills were even more impressive to see in real life. With its fairytale-like, romantic design it's a real work of art. So glad we visited this gem.
Sintra's Sweet Delights
Violet P.
July 28, 2025
Eating the famous Travesseiros pastry in Sintra was yummy highlight. Our host showed us the greatest local joints. Sweet conclusion at the end of a wonderful day at palaces.
Worth Every Penny
John M.
July 27, 2025
Great value for money for this tour. Professional guide, comfortable vehicle, wonderful iconic sites. This was one of those things that made our entire trip to Sintra perfect and stress free.
Seamless Entry
Addison R.
July 26, 2025
The skip the line made such a difference for us at Pena Palace. We spent less time on line and more time checking out its awesome interior and grounds.
Grace H.
July 26, 2025