Top Lisbon Historical Tours

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Capture the maritime spirit of Belém on this 3-hour walking tour, adventuring around some of the most well-known spots in Lisbon. See the famous UNESCO World Heritage-listed monuments such as Jerónimos Monastery, (admission not included), Monument to the Discoveries (Padrão dos Descobrimentos), and Belém Tower. Join a small group of limited to 8 people to experience personal attention and learn all about the Age of Exploration from your guide as you go.

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Belem and Jeronimos Monastery Guided Small Group Walking Tour

3 hoursFree Cancellation

4.9

(419)

from $39

Explore beyond Lisbon city limits—and see several of Portugal’s top attractions in one day—on this seamless, small-group tour. Set off in the morning via air-conditioned vehicle and head to UNESCO-listed Sintra. Skip the long lines and explore the rainbow-hued Pena Palace (tickets additional expense) and pass by the Gothic wonder of Quinta da Regaleira. Then, stop by Cabo da Roca (continental Europe’s westernmost point) and Cascais on your way back to Lisbon.

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Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais

8 hoursFree Cancellation

4.9

(4,059)

from $84

Lisbon in One Day Historic Small-Group Tour

7 hoursFree Cancellation

4.7

(121)

from $84

Price varies by group size

If you’re visiting Lisbon for the first time, don’t waste time getting lost—explore Portugal’s capital like a pro on a tip-based walking tour that lets you choose how much to pay. After just paying a small fee to reserve your slot (as numbers are limited), you’ll explore the city’s top sights on foot, so you can enjoy plenty of opportunities to stop for photos and soak up the finer details.

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Lisbon City Center Tour - The Unmissable Lisbon

2 hours 30 minutesFree Cancellation

5.0

(23,647)

from $4

Lisbon Walking Tour - The Perfect Introduction to the City

2 hours 30 minutesFree Cancellation

4.9

(616)

from $1

Likely to Sell Out

Lisbon - Small Group Walking Tour

3 hoursFree Cancellation

4.9

(256)

from $39

Discover the history and secrets of Sintra on this private tour with a local guide who knows all there is to know about the area. Customize this tour based on your group’s interests. Choose to tour one of the six palaces in Sintra on a half-day trip, or visit two palaces on a full-day tour, then spend time viewing the others from the outside. Your guide takes you to famous and lesser-known spots throughout the region.

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Private Tour to Sintra from Lisbon - Palaces, Gardens & Coast

4 to 6 hoursFree Cancellation

5.0

(216)

from $90

Price varies by group size

Lisbon Essential Walking Tour: History, Stories and Lifestyle

3 hoursFree Cancellation

4.8

(324)

from $30

Get ready to discover one of the most interesting areas within Lisbon, the Belém district, which is directly associated with the epic Portuguese navigations, from 15th and 16th centuries. You will visit the Jerónimos Monastery and its Church, known to be a masterpiece of the Portuguese architecture. You will also pass by the Monument to the Discoveries, which was erected in 1960 and where some of the most important characters from the Great Navigation era are represented. We finish our tour by the Belém Tower (outside only) a defensive point against invaders trying to reach the capital of the kingdom, Lisbon.

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Lisbon: Belem Walking Tour with Jeronimos Monastery Tks Included

3 hours 30 minutesFree Cancellation

4.9

(146)

from $72

Price varies by group size

Special Offer

The Original Lisbon Foodie Walk: 18+ Tastings & Local Wines

4 hoursFree Cancellation

Price varies by group size

Lisbon City of Spies Tour

2 to 3 hoursFree Cancellation

4.9

(60)

from $30

Nazaré is now one of the most popular places to surf in Portugal

Fatima, Nazare, Obidos 8-People Small Group, Day-Tour from Lisbon

9 hoursFree Cancellation

5.0

(1,133)

from $84

Sintra Half Day with Pena Palace and Regaleira from Lisbon

5 hours 30 minutesFree Cancellation

4.9

(391)

from $94

Price varies by group size

Welcome Tour to Lisbon in Private Eco Tuk Tuk with a Local

1 to 4 hoursFree Cancellation

4.9

(1,837)

from $25

Price varies by group size

Discover the hidden gems of Sintra and Cascais on this comprehensive tour, which saves you the hassle of making your own way between the dispersed attractions. First, explore Sintra’s colorful, medieval streets. Pass regal estates and take in lush panoramic views, with a visit to the candy-colored Pena National Palace. You'll also visit the mysterious Quinta da Regaleira and the charming fishing village of Cascais.

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Lisbon: Sintra, Pena, Regaleira, Cabo Roca Coast and Cascais 8h

8 to 9 hoursFree Cancellation

4.7

(221)

from $36

Price varies by group size

Lisbon Highlights: Private Tuk Tuk Tour Adventure Sightseeing

3 to 8 hoursFree Cancellation

5.0

(3,651)

from $102

Price varies by group size

Special Offer

While Lisbon’s landmarks could keep you occupied for days, plenty more wonders lie beyond the city limits. Tick off more places in a day than you’d be able to alone on an attraction-packed small-group tour of Fatima, Batalha, Nazare, and Obidos from Lisbon. You’ll be party to Portugal’s diverse cultural landscapes as you’re whisked between the sacred Catholic pilgrimage site of Fatima, world-record-breaking waves in Nazaré, the UNESCO-listed Batalha Monastery, and the medieval village of Obidos.

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Fatima, Batalha, Nazare, Obidos Small Group Tour From Lisbon

9 hoursFree Cancellation

Special Offer

Sintra's UNESCO World Heritage-listed historic center, Pena National Palace, and Quinta da Regaleira are spread across a hillside town that takes considerably longer to navigate independently than most visitors anticipate. This private full-day tour includes hotel pickup in Lisbon and a guide who covers all three sites, with the itinerary adjustable to suit your group's specific interests throughout.

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Sintra Private Trip from Lisbon Customizable Dreamlike Experience

8 hoursFree Cancellation

Price varies by group size

Guided Tour to Sintra, Pena, Regaleira, Cabo da Roca and Cascais

10 hoursFree Cancellation

4.9

(3,400)

from $96

Price varies by group size

Likely to Sell Out

Explore Sintra’s most significant landmarks on this private, half-day tour with included round-trip hotel pickup from Lisbon. Accompanied by a local guide, visit Pena Palace and the Moorish Castle with admission tickets included to avoid separate bookings. The itinerary covers the highlights of the UNESCO World Heritage Site, offering a comprehensive introduction without the hassle of navigating logistics independently.

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Sintra Private Tour with Tickets: Pena Palace & Moorish Castle

4 hours 30 minutesFree Cancellation

4.9

(142)

from $179

Price varies by group size

From Lisbon: Fátima, Nazaré, Batalha and Óbidos Guided Tour

10 hoursFree Cancellation

4.8

(1,440)

from $66

Likely to Sell Out

Standing on top of a hill, Sintra’s most spectacular site is the colorful painted and ornate Pena Palace (Palácio da Pena), a must-have on every travel bucket list.

Reaching the sights in Sintra and Cascais by rental car or public transport can be a hassle. Instead, see Portugal's natural and architectural wonders stress-free with this small-group, guided tour directly from Lisbon. Experience the natural wonders of Pena Park with a guided tour and enjoy a visit inside Pena National Palace (if option with tickets is selected). Use your free time in Sintra to take in the highlights, then drive along the Atlantic Coast past the bluffs of Roca Cape to Cascais for a leisurely walk through town to its scenic beaches.

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Sintra and Cascais Small-Group Day Trip from Lisbon

8 hoursFree Cancellation

4.8

(7,389)

from $71

Likely to Sell Out

rent a fun - Life is short, bike with us...

Lisbon’s steep hills deter many travelers from exploring the city by bike, however, this electric bike tour of Lisbon allows you to ascend to incredible viewpoints without getting tired. Motorized bicycles mean you exert little energy when ascending to high points such as the Castelo de Sao Jorge and the Miradouro Senhora de Monte. Explore the historic districts of Alfama, Graça, and, if you’ve opted to take an evening tour, watch a magical sunset from an elevated vantage point. Small-group tour limited to 15 cyclists.

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3-Hour Lisbon 7 Hills Electric Bike Tour

3 hoursFree Cancellation

4.9

(877)

from $32

Discover the best that Lisbon has to offer as you embark on a walking tour through the city center. With a private guide, visit the top sights and areas of the city including the ancient neighborhood of Alfama, the ornate Santa Justa lift, the bohemian neighborhood of Bairro Alto, and the Graça viewpoint. While you explore, your guide provides insights into the history and culture of Lisbon and Portugal.

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Best of Lisbon Private Walking Tour

3 hoursFree Cancellation

4.9

(389)

from $84

Price varies by group size

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Top Attractions in Lisbon

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Lisbon historical tours showcase the Portuguese capital’s complex past through guided walks in the city’s oldest neighborhoods and UNESCO-listed districts. These experiences take you through historic quarters like Alfama, Bairro Alto, Baixa, and Castelo, visiting landmarks such as Lisbon Cathedral, Jerónimos Monastery, and Belém Tower. You can learn about Portugal’s Age of Discovery, the influence of Jewish communities during the Golden Age, or the slave trade that shaped Portuguese culture and contemporary history. Tours range from comprehensive full-day experiences to specialized walking tours that focus on specific themes.

Top Lisbon Historical Tours

1,000+ results

Top Attractions in Lisbon

Alfama

Jerónimos Monastery

Pena National Palace (Palacio Nacional da Pena)

Castelo de São Jorge

Sintra

Belém Tower (Torre de Belém)

Alfama

Jerónimos Monastery

Pena National Palace (Palacio Nacional da Pena)

Castelo de São Jorge

Sintra

Belém Tower (Torre de Belém)

Alfama

Jerónimos Monastery

Pena National Palace (Palacio Nacional da Pena)

Castelo de São Jorge

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