SINTRA – CABO DA ROCA – CASCAIS: A magical escape

Recommended by 97% of travelers

Badge of Excellence

Lisbon, Portugal

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

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Overview

Explore Lisbon, Sintra, and Cascais with the ease of a private full-day tour that covers both historical highlights and local destinations. Travel in comfort in a classic car to visit UNESCO-listed region and explore Pena Palace and Quinta da Regaleira, watch the Atlantic Ocean from Roca Cape, and walk through the picturesque streets of Cascais and taste the baked treat queijada de Sintra.

Hear insightful commentary from your private guide
Enjoy the sights while your driver-guide handles the road
Have more flexibility with a private tour
Hotel pickup and drop-off included

What's Included

Official Guide;
Local pastry (Queijada de Sintra)
Pick-up and drop Off;
All insurance

Gratuities
Lunch
Entry/Admission Pena Palace, Quinta da Regaleira or Palácio de Monserrate

Meeting and Pickup

You can head directly to your preferred meeting point, or request pickup.

Pickup points

Select a pickup point

Pickup details

Pick up in your Hotel/accommodation (all hotels) in Lisbon / Setubal / Sesimbra

Meeting points

Select a meeting point

End point

This activity ends back at the meeting point.

Itinerary

Mosteiro dos Jeronimos (Pass By)

Padrao dos Descobrimentos (Pass By)

Torre de Belem (Pass By)

Praia de Carcavelos (Pass By)

Casino Estoril (Pass By)

Marina de Cascais

45 minutes • Admission Ticket Free

Boca do Inferno

25 minutes • Admission Ticket Free

Guincho Beach (Pass By)

Cabo da Roca

30 minutes • Admission Ticket Free

Centro Historico de Sintra

1 hour • Admission Ticket Free

Quinta da Regaleira

1 hour 30 minutes • Admission Ticket Not Included

Park and National Palace of Pena

2 hours 30 minutes • Admission Ticket Not Included

Additional Info

Confirmation will be received at time of booking
Not wheelchair accessible
A minimum of 2 people per booking is required
Infants must sit on laps
Infant seats available

Not recommended for travelers with back problems
No heart problems or other serious medical conditions
Most travelers can participate
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

4.9

based on 34 reviews

Total reviews and rating from Viator & Tripadvisor

We perform checks on reviews

Outstanding Tour 10/10. A must when in Lisbon!

Alexandra_L, Apr 2026

We had an incredible tour experience from Lisbon to Sintra, Cascais, and Cabo da Roca with our guide, Nuno. Traveling with my two kids, I truly appreciated how friendly, polite, and attentive he was throughout the entire day. He is extremely knowledgeable and shared so many interesting insights, making every stop even more meaningful. Nuno really went above and beyond to make sure we saw as much as possible without ever feeling rushed. One of the highlights was visiting Monserrate Palace and its beautiful gardens—such a great addition and much less crowded than Pena Palace. He also took us to the Miradouro de Santa Eufémia, where the views were absolutely stunning. To top it all off, he kindly made us a lunch reservation at an amazing beachfront restaurant, Mestre Zé, which was truly a 10/10 experience. I can’t thank Nuno enough for such a memorable day. It was an incredible experience all around, and I highly recommend this tour!

If you have just one day........

Laura_A, Apr 2024

Pedro was our driver and guide. Absolutely wonderful! He picked us up from the cruise ship and started our journey with a trip to Sintra. Did the highlights as well as "off the beaten path". Gave us tips and tricks for each place. It was fabulous to know he was nearby whenever we were ready to leave or needed anything. Cascais was nice but seemed to be a little busy for us. We opted for Guincho Beach where we enjoyed a lovely lunch and watched the waves ( and learned that I really enjoy Port and Tonic)! Then off to Cape Roca (the western most point in Europe). We asked to stop at a fire department. Not a problem! It was a wonderful day, would highly recommend. Even days after our tour we reached out with some questions on places or "the name of that liquor?". I just text him to get the name of the beach without thinking about the 9 hrs ahead (sorry about that Pedro). 10/10 would def do it again!!

Exceptional Tour - Top Rate in Every Way

Carl_M, Apr 2022

This is a must do day trip from Lisbon if you have time and there are many tour choices. We are so glad we chose this one because our tour guide Matthew was excellent! All the basics (prompt, professional, good driver, good language skills etc) but above and beyond with his ability to find out what we were interested in and tailor the tour to us and to always have the most interesting tidbits of information. He expertly guided us through the crowds to find good spots and shared his passion for his country and vast knoweldge. Sintra is magical, Pena Palace is fascinating and Roca Cape and Caiscais are beautiful. All are well worth seeing. Along the way we also got to taste local treats and have an excellent lunch overlooking the sea. Highly reccomend this tour!

Ability to see a lot in one day, but doesn't totally match description

CanTourist8675309, Aug 2019

This tour was great with regards to being able to see a lot of the country side, including Cabo da Roca. However, we felt like expectations for the tour could have been managed differently, maybe before the tour started through email conversation. We originally booked this tour because the "typically itinerary" listed all of what we wanted to see, including the Iniciatic Well at Quinta da Regaleira, but once the tour started Andre let us know that there's typically is a 3 hour wait for the well and a 2 hour wait for inside Pena Palace and recommended we go to a beach instead. This was fine, but I would have preferred to have all these conversations before hand. It appears that because Sintra has grown in popularity it might be almost impossible to see all of what is on the "typically itinerary" listed in the description. Perhaps in the future there could be 3 options of itineraries and tourist choose 1 of the 3 options ahead of time so everyone's expectations are the same and managed. We ended up spending the majority of the tour not actually in Sintra, but more so at "Apple beach", Cascais, and Roca Cape. I wish we could have spent a little bit longer at Pena Park. We also felt rushed walking through Pena Park and it seemed like maybe Andre was worried about traffic and wanted to get out before it got very busy. We were happy we took a private tour because the process to see the park in Sintra appears to be time consuming and busy if taking public transport, but for the price of the tour we thought the itinerary would have been closer to the description.