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Private Tour Sintra Roca Cascais Palácio da Pena Castelo Mouros

Recommended by 91% of travelers
Badge of Excellence
Lisbon, Portugal
Great choice
5+ bookings last month.
  • 9 hours (approx.)
  • Pickup offered
  • Group discounts
  • Mobile ticket
  • Offered in: English

Why travelers loved this

4.7
·
· Rehan_S ·
Oct 2025
Ana was awesome as our tour guide. She picked us up right on time. She took her time to explain everything about the historical sites. She was very knowledgeable, funny and friendly. She did not make us feel rushed at all. Ana asked us about our preference for lunch and it took us to a beautiful restaurant on Guincho Beach. I would definitely recommend this tour.
· Daniel_C ·
Dec 2025
Expect lots of walking up/down steep slopes, lots of stairs, beautiful views, very windy day we were there. Our guide Pedro was the best. Took us to small towns and explain lots of history of kings and rulers.

Explore our promoted experiences

Overview

This day tour of Sintra takes you to Pena Palace and the Moorish Castle, with free time at the end to explore Cabo Da Roca. You'll also visit Sintra Historic Center and Guincho Beach. Along the way your guide will tell you all about the history and significance of the places you visit. Go at your own pace on this private group tour.
  • Tour Sintra today and explore the most popular attractions
  • Be collected from your hotel and dropped their after
  • Avoid waiting in lines because your guide will prebook everything for you
  • Wander around the romantic village and soak up the ambiance

What's Included

  • Bottled water
  • Private transportation
  • WiFi on board
  • Air-conditioned vehicle
  • Entrance to Castelo dos Mouros
  • Palace and Peña Park Entrance
  • Guide / Information Guide

    Meeting and Pickup

    Pickup points

    Select a pickup point

    Pickup details

    Let us know your full address if you do not appear on the list. Pick up and drop off at your address or hotel. Outside the defined areas by consultation. Airport subject to additional charge due to parking and waiting times

    Itinerary

    1

    Castelo dos Mouros

    1 hour • Admission Ticket Included

    2

    National Palace of Pena

    2 hours • Admission Ticket Included

    3

    Centro Historico de Sintra

    1 hour • Admission Ticket Free

    4

    Cabo Da Roca

    30 minutes • Admission Ticket Free

    5

    Guincho Beach

    20 minutes • Admission Ticket Free

    6

    Centro Historico de Cascais

    1 hour • Admission Ticket Free

    7

    Boca do Inferno

    20 minutes • Admission Ticket Free

    Additional Info

    • Confirmation will be received at time of booking
    • Not wheelchair accessible
    • Stroller accessible
    • Service animals allowed
    • Near public transportation
    • Infant seats available
    • Most travelers can participate
    • This is a private tour/activity. Only your group will participate
    Supplied by

    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

    4.7
    based on 284 reviews
    Total reviews and rating from Viator & Tripadvisor
    We perform checks on reviews

    Sintra so nice, had to do it twice.

    Nicole_G, Mar 2026
    This tour was our second in Sintra. This trip we aimed higher and did the Mouros Castle and the colorful Pena Palace. Our guide David helped us to understand the history as well as identify all the historical Portuguese people involved. He also recommended a great restaurant for lunch in addition to a long lived pillow dessert that originated there. After all that, we did a real nice beach run. It was fantastic :)

    Response from Host, Mar 2026

    Hello dear Nicole, Thank you very much for your kind review — it truly means a lot to us. We are delighted to know that you had a pleasant experience. We hope to welcome you and your family again soon! Warm regards, Thank you very much / Muito obrigada, Luísa Silva

    A very nice day.

    Peter_M, Mar 2026
    Ana was very friendly, flexible, and knowledgeable, especially about thr Pena Palace. We had a very nice day.

    Response from Host, Mar 2026

    Hello dear Peter, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Rainy but still a great tour

    Dan_P, Feb 2026
    We had a private tour with Pedro who was very knowledgeable and passionate about Portuguese history. He was courteous and went out of his way to make us comfortable. For lunch he detoured to a favorite spot of his where we enjoyed a fresh seafood lunch, wine, and the roaring ocean view. The palaces, Sintra, and Cacais were all interesting and beautiful but the tour guide made a very rainy day much nicer.

    Response from Host, Feb 2026

    Hello dear Dan, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Best Private Tour Ever!

    Luis_V, Feb 2026
    We had an amazing time and the experience was one of a kind. Pedro helped us experience a unique opportunity with this tour. Some roads were closed, but Pedro found the way to get us to our destination. It was raining and he offered us raincoats. We took longer than expected experiencing different places and he was still willing to continue with us throughout the day without rushing us. This was truly the best tour we have experienced. Thank you to the whole team, to Pedro. It was our pleasure discovering Sintra & the beauty of Pena Castle. One of UNESCO heritage places, checked out of our bucket list, thanks to Pedro and its amazing team.

    Response from Host, Feb 2026

    Hello dear Luis, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    David is a very good tour...

    Laura_R, Dec 2025
    David is a very good tour guide. He is very informative of Sintra and the Penna Palace. He is very nice and thinks about his clients time. He tries to make sure your time is well spent. He is a nice guy and made the trip very enjoyable. I would recommend David as a tour guide.

    Response from Host, Dec 2025

    Hello dear Laura, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Wonderful tour but expect lots of walking.

    Daniel_C, Dec 2025
    Expect lots of walking up/down steep slopes, lots of stairs, beautiful views, very windy day we were there. Our guide Pedro was the best. Took us to small towns and explain lots of history of kings and rulers.

    Response from Host, Dec 2025

    Hello dear Daniel, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Sintra

    MELANIE_W, Oct 2025
    David was a great driver, extremely knowledgeable and gave us ample time to eat and explore. Sintra village was very small so not much to see, however the castle and the Pena Palace were fascinating. Lots of walking on stone paths. Rain made it slippery at times. We had intense fog so we were unable to have the views we had hoped for. We booked the full day tour. Our beachside drive home was lovely!!

    Response from Host, Oct 2025

    Hello dear Melanie, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Best Sintra experience

    ILAN_H, Oct 2025
    Ana was prefect knowledgeable, grade 100 in history and managed to keep us in listening mode all the time. She adjusted herself to my walking disability and did all she could to have a 7H experience of this immovable tour. Just perfect.

    Response from Host, Oct 2025

    Hello dear Ilan, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Anna does tours daily to...

    Kevin_P, Oct 2025
    Anna does tours daily to Sintra’s castles. She knows the history well and is very flexible and gracious.

    Response from Host, Oct 2025

    Hello dear Kevin, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Great Day Trip with Excellent Guide

    Monique_D, Oct 2025
    We throughly enjoyed our day trip to Sintra. Our tour guide Marco was exceptional. He was knowledgeable and very personable. He brought water for our stops and suggested an amazing lunch stop!

    Response from Host, Oct 2025

    Hello dear Manique, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Private Tour Sintra, Pena palace

    Barbara_W, Oct 2025
    Ana, our tour guide, was disappointing relative to all of our other Viator experiences as she provided very limited information and participation in the tour. She spent all of our time with her personal and family life experiences and absolutely no questioning in our backgrounds or interests in this tour. She also spent much of our time policing other tourists not involved in our private tour. Would not recommend this guide, but the sites were worth seeing.

    Ana was awesome as our...

    Rehan_S, Oct 2025
    Ana was awesome as our tour guide. She picked us up right on time. She took her time to explain everything about the historical sites. She was very knowledgeable, funny and friendly. She did not make us feel rushed at all. Ana asked us about our preference for lunch and it took us to a beautiful restaurant on Guincho Beach. I would definitely recommend this tour.

    Response from Host, Oct 2025

    Hello dear Rehan, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    A wonderful day! I would...

    Linda_W, Sep 2025
    A wonderful day! I would highly recommend this tour company and our guide, David. He was knowledgeable and helpful.

    Response from Host, Sep 2025

    Hello dear Linda, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Peña Palace with a Great Guide

    Shu_N, Sep 2025
    Ana did a fantastic job on this tour. Traffic was crazy as was the parking situation. She was very good at overcoming both situations. She also did an excellent job of guiding us through the Peña Palace with just the right amount of detail. When I signed up this tour, I thought we were going to do a self-guided tour. Her guidance and storytelling was great and before we knew it, we had gone through the entire place, including the walk along the wall with great views. She took us to a nice ocean front restaurant as well. She was never lost for words and kept us entertained. I strongly recommend her if you have a choice.

    Response from Host, Sep 2025

    Hello dear Shu, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Our guide was so...

    Shirley_S, Sep 2025
    Our guide was so informative! Very knowledgeable and helpful with our concerns! Took us to the best place to have lunch! Highly recommend!!

    Response from Host, Sep 2025

    Hello dear Shirley, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Best Full Day Private Tour with Ana

    Regina_F, Sep 2025
    We had the pleasure of spending the day with Ana on a private tour of Sintra, Pena Palace, Cascais, Roca and the stunning Mouros Castle — and it was truly unforgettable. From the very beginning, Ana was in constant communication, making sure every detail was perfectly planned. Her bubbly and personable nature made us feel instantly comfortable and welcomed. Ana is incredibly knowledgeable about the history, culture, and hidden gems of Sintra, Cascais, and the surrounding areas. She was responsive to every question and offered insights that truly brought the sites to life. One of the highlights was our incredible lunch at Mar do Guincho, which she thoughtfully recommended — the food, the view, and the experience were top-notch. Thank you, Ana, for such a wonderful day. We’re recommending you to everyone we know!

    Response from Host, Sep 2025

    Hello dear Regina, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    Private tour

    David_A, Aug 2025
    Our tour guide was very informative. He gave us great information and showed us everything we wanted to see.

    Response from Host, Aug 2025

    Hello dear David, Thank you so much for your kind review — it truly means a lot to us. We hope to welcome you and your family back again soon! Warm regards, Thank you very much / Muito obrigada, Luisa Silva

    The trip that never was…

    Mario_C, Aug 2025
    The trip was canceled by Viator. We paid $366.86, was replaced with national palace of Sintra and Palace of Queluz. Which I could’ve purchased from. Viator for less than $50.00. We were given a guide that didn’t speak about the properties that we are visiting. Spent more time talking about a personal life… and and texted the tickets to the second Palace only to find out she don’t send me one ticket. Luckily, that Palace ticket person allowed my wifeto go through anyway.

    Response from Host, Sep 2025

    Unfortunatelly due the rysk of fire sometimes in August some monuments close to the public. When that occurs we always ask if the guests wish a refund or are ok with replacing by other monuments. We believe that both tickets were sent but ... Thank you very much for the review and be sure it will help us improving our services. Hope to see you again travelling with us.

    Fantastic journey to the...

    Roddy_S, Jul 2025
    Fantastic journey to the Moorish castle, Pena Palace, Cabo de Roca and scenic drive along the Atlantic coastline.

    Response from Host, Jul 2025

    Hello dear Roddy, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Great tour of Sintra with Anna

    Kathryn_S, Jun 2025
    Anna was very knowledgeable and very fun! We enjoyed our day exploring Sintra, Pena Palace, the castle, as well as a drive along the coast. She took us to a fantastic restaurant on a very beautiful beach. Her tour was interesting, fun, and filled with of personal touches.

    Response from Host, Jun 2025

    Hello dear Kathryn, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Castles and Moore! Yes please!!

    Tonia_B, Jun 2025
    David was the best! We highly recommend him as your tour guide. He is very knowledgeable and an engaging guide. He provided insights and details on the various historic leaders and put into context the transitions of power and how they occurred. He led the tour at our pace focusing on the areas of interest as we dictated. He catered lunch to my pescatarian needs and found us the perfect spot. The fresh seafood and the views were fantastic. Obligrado!

    Response from Host, Jun 2025

    Hello dear Tania , thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Good pacing,...

    Jean_S, Jun 2025
    Good pacing, knowledgeable guide, saw all the highlights in one day, and very convenient because we were picked up and dropped off right at our hotel.

    Response from Host, Jun 2025

    Hello dear Jean, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Super Sintra Side Trip

    Dallas_Z, Jun 2025
    The Moorish Castle access is VERY steep steps with no handrail. My husband has breathing issues on inclines & some balance issues. So our guide,Ana, wisely suggested we spend the time in the Sintra town itself. It was charming with plenty of photo opps & she told us the history of the area as we strolled. Her English was very good & easy to understand. She was concise, thorough & interjected humor to keep our attention. Pena Palace was beautiful inside & out. Some steps but not difficult. Interesting history in changing from a monastery to a royal palace of several generations. Ana’s skill in judging the time to drive from town to Pena, navigating the many hairpin curves& getting a parking spot was as much fun to watch as the tour itself. She was phenomenal! Then we continued on a lovely drive to the coast to La Roca to see a lighthouse set on cliffs overlooking the Atlantic Ocean at the most western tip of Europe. Lunch was at a restaurant further along also at cliff side where she scored a window seat for us. The ride back to Lisbon was scenic and full of anecdotes from Ana’s personal experience as she grew up & still lives in the area. At the end of the day we felt we had truly made a friend, not just an acquaintance. We highly recommend the trip and Ana.

    Response from Host, Jun 2025

    Hello dear Dallas, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Sintra Tour

    Michael_M, Jun 2025
    Anna was a great guide, very passionate about Portugal, the drive to Sintra was very pleasant, Anna is obviously well known to all the Sintra tourist personals, this was evident as we travelled to all different venues and place of interest access was made without any fuss. Thank you Anna for a great trip.

    Response from Host, Jun 2025

    Hello dear Michael, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Great Tour with Pedro.

    Petra_H, Jun 2025
    Pedro was engaging and knowledgeable. He was attentive and kind. Beautiful culture tour. Please note that there are many stairs at the Moor castle. In addition, there is a steep incline climb to the castle. Be prepared. Wear sneakers!

    Response from Host, Jun 2025

    Hello dear Petra, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Excellent experience

    Harry_R, May 2025
    We had a fantastic tour with Miguel. He picked us up on time at the cruise port and was friendly, knowledgeable, professional and showed us everything described in the tour itinerary. The views from Pena Palace and the Moorish castle were breathtaking. All of the other visited points were very impressive. This tour is highly recommended especially with Miguel.

    Response from Host, May 2025

    Hello dear Harry, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    Ana, our travel guide...

    Elsa_C, May 2025
    Ana, our travel guide done a fantastic job. She is so knowledgeable and informative. We had a lovely time in visiting the tourist spots. Definitely will introduce her to friends if they visit Lisboa.

    Response from Host, May 2025

    Hello dear Elsa, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    David was fantastic! ...

    Stephen_H, May 2025
    David was fantastic! Beautiful views from the castle and palace. Lunch in town was wonderful. Great pictures from Cabo de Roca!

    Response from Host, May 2025

    Hello dear Stephen, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    The Peña Palace, Portuguese history - an exhilarating experience,

    Susan_V, May 2025
    For anyone visiting Lisbon, the ‘Sintra, Peña Palace & Moorish Castle’ tour is an experience not to be missed! The itinerary provides a history lesson of Portugal from the times of the Moorish occupation to the pomp, pageantry and drama of the last days of the Portuguese monarchy. You will be dazzled by the incredible Peña Palace, it’s colours, the architecture of the interior living spaces and the stories of the day-to-day lives of it’s royal occupants, together with the many personal artefacts on display. The Moorish Castle is a rugged climb but well worth effort, particularly the panorama of the views to the coast, and is the perfect precursor to a hearty lunch.. we took the ‘coast view’ option and had the best seafood experience, even for Australians! Once sated, the leisurely drive home via the Cascais coast to Lisbon was a perfect end to a magical day. However, the key to being such a fantastic experience, was our guide, Ana! She was not only a knowledgable and entertaining guide, but a teacher and a friend, who is passionate about her country, its history and life!

    Response from Host, May 2025

    Hello dear Susan, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    A fantastic day trip to sintra and the western coast.

    Scott_H, May 2025
    Anna was a fantastic guide. Extremely knowledgeable and fun . The best part is she adjusted the schedule.l to avoid the crowds wherever possible. She contacted us the night before to ask if we could start at 8 instead of 830. We are glad she did. Sea food restaurant by the ocean was fantastic and drove back along the coast to avoid rush hour traffic. Spoke excellent English. Would book again

    Response from Host, May 2025

    Hello dear Scott, thank you so much for your review, It´s very Important for us. Hope we can see you and your family again soon. Best regards, muito obrigada Luisa Silva

    From $205.36

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    up to 24 hours before the experience starts (local time)

    Book ahead!
    On average, this is booked 41 days in advance.

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