from
$81
Semi Private Sintra Day Trip: Pena Palace, Cascais, & Cabo da Roca
Visit a fairytale castle and dramatic cliffs with 2 tastings and minibus transport from Lisbon
Four iconic sights in one day from Lisbon? Nearly impossible without pre-arranged transport and a local who knows the route. Which is exactly what this small-group day trip offers: a thoughtfully curated plan, jaw-dropping scenery, and two local tastings. Wander along Cascais's bay, stand on the cliffs of Cabo da Roca, and try pastel de nata and ginjinha in Sintra before gawking at endless views from Pena Palace's terraces. Skip the driving and parking nightmares; it's all sorted.
What's included
Stand on the edge of Europe
Expert English-speaking guide
Round-trip minibus transport from Lisbon
Pena Palace exterior ticket
Ginjinha tasting
Stand on the cliffs of Cabo da Roca
Pastel de nata tasting in Sintra
Small group experience
Guide tips
Lunch and drinks
Interior ticket to Pena Palace
Itinerary
Your tour begins at Avenida da Liberdade
Your day begins in front of Hard Rock Cafe Lisboa on Avenida da Liberdade, Lisbon's grand tree-lined boulevard. Board the comfortable, air-conditioned minibus and head west for a scenic coastal 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. Take in sweeping Atlantic views from the dramatic cliffs, where waves crash far below and a stone monument marks the point where land gives way to sea.
Wander Sintra's historic center for lunch & tastings
Then wind through Sintra-Cascais Natural Park into Sintra's historic center, with its cobblestone streets and pastel-hued facades. Find a spot for lunch, then savor a pastel de nata and a sip of ginjinha, a local cherry liqueur.
Admire Pena Palace from the terraces
Ride up the hill to the sun-soaked terraces of the red-and-yellow Pena Palace, a delightfully whimsical 19th-century castle. Enjoy free time in forested Pena Park, where hilltop lookouts frame the Moorish Castle.
Your tour ends at a central Lisbon drop-off
Cruise back to Lisbon after a full day of coastal towns, windswept cliffs, and hilltop palaces, arriving in the city center. Ask your guide for dinner recommendations before heading off to enjoy your evening.
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!
Sun, 18 Oct 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.
Alcohol Consumption: This tour includes a tasting of ginjinha, a traditional Portuguese cherry liqueur; participants should be of legal drinking age in Portugal (18). Please bring a government-issued ID if you plan to partake.
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 tour includes:
Expert English-speaking guide
Round-trip transport from Lisbon
Air-conditioned minibus
Pena Palace exterior ticket
Ginjinha tasting
Sightseeing at Cabo da Roca
Pastel de nata tasting
Free time in Cascais and Sintra's historic center
Free time on the Pena Palace terraces and in Pena Park
What to bring:
Comfortable walking shoes
Government-issued ID
Camera
Water bottle
Light jacket or layer
See what people are saying
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138 verified ratings
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What reviewers sayPowered by Cicero AIBETA
Reviewers frequently praise the guides for their extensive knowledge, engaging storytelling, and friendly, accommodating manner, which enhanced the historical and natural highlights of Sintra, Pena Palace, Cascais, and Cabo da Roca. Many also report the tour was well-paced and smoothly organized, allowing for a relaxed, stress-free experience with comfortable transportation and memorable scenic views.
Great way to experience Sintra!
Gillian E.
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September 28, 2026
If you're staying in Lisbon, you absolutely cannot miss Sintra & Cascais – they are so beautiful! I was glad I booked this tour because our guide, Sergio, was extremely knowledgeable and helpful. It was amazing how many things we saw in such a short amount of time, and he was constantly able to point out interesting things on the drive and answer any questions. It was a very hot day and he adapted to our group and made sure that we all were comfortable (I was grateful for the AC in the minibus!) The Pena Palace was pretty big, so it was great to have a guide that could point out the highlights and make sure we saw the best views. Totally worth it! Thank you Sergio for a great day!
Unexpected highlight of our trip.
Richard K.
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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.
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August 07, 2026
Our guide Gonçalo was exceptional!!!
Family tour to Sintra
John L.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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August 05, 2025
Emily M.
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July 31, 2025
Highly Recommend
Lily H.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.