Private tour from Lisbon:Sintra Pena Palace Cabo da Roca, Cascais

Recommended by 96% of travelers

Badge of Excellence

Lisbon, Portugal

9 hours (approx.)
Pickup offered
Group discounts
Mobile ticket
Offered in: English

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Overview

Skip the hassle of route planning and finding parking, and soak up the magic of the Sintra UNESCO World Heritage Site and Portugal’s rugged Atlantic Coast on this private tour. Explore primary-colored Pena National Palace with your guide, enjoy free time to explore independently or check out your guide’s restaurant recommendations, then head to the cliffs of Cabo da Roca, Europe’s westernmost point, and the stylish resort town of Cascais.

See Sintra, Cabo da Roca, and Cascais all in one day
Tour the extravagant Pena National Palace and its lush gardens
Onboard Wi-Fi keeps you connected as you travel, without the roaming fees
Private 2-way transfers from your central Lisbon hotel save time

What's Included

Bottled water
Air-conditioned vehicle
WiFi on board
Photo Gift
Private transportation
Ticket

Breakfast
Dinner

Meeting and Pickup

Pickup points

Select a pickup point

Pickup details

We would like to ask you to wait at the reception desk or Ferry Porto 10 minutes before the pick-up time. We will contact you before the experience to provide more pickup information.

Operating hours
.9:00 am

Itinerary

Park and National Palace of Pena

5 hours • Admission Ticket Included

Centro Historico de Sintra

1 hour • Admission Ticket Free

Cabo Da Roca

1 hour • Admission Ticket Free

Cascais

2 hours • Admission Ticket Free

Additional Info

Confirmation will be received at time of booking
Not wheelchair accessible
Near public transportation
Infant seats available

Not recommended for pregnant travelers
Travelers should have a moderate physical fitness level
This is a private tour/activity. Only your group will participate

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Cancellation Policy

You can cancel up to 24 hours in advance of the experience for a full refund.

Traveler Photos

Gallery picture 1 (from a traveler's review)

Gallery picture 2 (from a traveler's review)

Gallery picture 3 (from a traveler's review)

Gallery picture 4 (from a traveler's review)

Gallery picture 5 (from a traveler's review)

Reviews

4.8

based on 23 reviews

Total reviews and rating from Viator & Tripadvisor

We perform checks on reviews

Our Favorite!

Courtney_P, Sep 2025

Absolutely a MUST!!!!!!! Our favorite excursion of our Portugal trip! Carlos was our guide and he was an amazing story teller giving the history of Sintra and the Pena palace as well as show us highlights in the historic town of Sintra and Cascais! The worst part was that the day flew by so quickly! Definitely the way to go if you will be visiting Sintra during your stay!

Great Experience

Charles_B, Aug 2025

I would highly recommend the private tour from Lisbon: Sintra Pena Palace, Cabo de Roca and Cascais. We had a wonderful guide (Tiago) that was excellent in explaining the history and various details of all of the locations that we visited. Be prepared for a little walking if you go to the Palace, however you always have the option to take the bus up. Actually, we much preferred to walk up and learned so much from Tiago by doing so. Excellent tour and guide!

Our guide Tiago was...

Adam_S, Jul 2025

Our guide Tiago was absolutely awesome. He explained the history of the areas we visited and was super enthusiastic. We would recommend this tour and especially Tiago. His boss should give him a raise.

The way to see Sintra

michaelwilson10, Jul 2025

This is an excellent trip. We started off at Cabo da Roca and then to Cascais both of which were excellent stops. The highlight though was the Sintra Pena Palace. Our guide, Hugo was first class and knew so much about the history that it really brought it alive for us. Highly recommended.

Excellent tour with a great guide (Lara)

Shawn_T, Aug 2024

Our tour with Lara was excellent! She picked us up at our hotel and we spent the whole day with her for our tour. She is very friendly and very knowledgeable. She was very flexible and was willing to accommodate our requests. She gave us an excellent tour of Pena Palace and the surrounding grounds which we would not have been able to appreciate if we had done this on our own. She dropped us off in Sintra where we explored the town and she left us with various recommendations of places to hit. She picked us up after about an hour and then we went off to Cascais. Beautiful beach town and she gave us time to hit the beach (our request) as well as gave us interesting history and background of the area. Lara was really a lot of fun and a great conversationalist. I would highly recommend doing the tour with Lara (in fact we already have this recommendation to some people that we met today).

Great day

Jayne_B, Jul 2024

Great day with an amazing guide. Very informative & interesting. Made sure we had water & umbrellas when needed. Answered all our questions. Friendly & comfortable to spend the day with. Recommended a great restaurant for lunch. Was a great experience.

Great tour guide!

Kevin_K, May 2024

The tour guide Ruben was one of the best we've ever had! He is very knowledgeable, and brings the history of the sites to life. He is clearly excited to share what he knows, and it made for a wonderful day. Thanks, Ruben!