Sintra and Cascais Private Tour with Pena Palace Ticket Included
Recommended by 100% of travelers
Badge of Excellence
Lisbon, Portugal
- 8 hours (approx.)
- Pickup offered
- Group discounts
- Mobile ticket
- Offered in: English
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Overview
Sintra's palaces draw long ticket lines, and the hilltop sites are scattered across steep terrain that's awkward to cover by public transit. This private tour includes prebooked Pena Palace admission, round-trip transport from Lisbon, and a guided visit to both Sintra and Cascais, so you move at your own pace through the palace, town, and coast without queuing for entry or working out bus connections.
- Sintra palaces and Cascais coast covered in one seamless experience
- Prebooked entry guarantees your entry to the popular Pena Palaca
- Private guide and pace—no group schedule or fixed timings to follow
- Enjoy the scenery as someone else tackles the driving
What's Included
- Pena Palace ticket (20€/person included) 1st slot guarantee
- Hotel pickup and drop-off
- Air-conditioned vehicle
- Bottled water
- WiFi on board
- Lunch
- Itinerary/schedule changes are not allowed
- Luggage is not allowed for safety reasons
Meeting and Pickup
Pickup points
Select a pickup point
Pickup details
Pick up sharp at 8am (your Pena Palace tickets have an entry schedule - invalid if late). Make sure to eat breakfast before pick up, you won't have time before 11am. Eating or drinking is not allowed inside our vehicles.
Start time.8:00 am
Itinerary
Your private guide picks you up from your Lisbon hotel in the morning—Pena Palace operates on timed entry, and your ticket secures a first-entry slot, so punctuality matters.
The drive to Sintra takes you through the forested hills of the Serra de Sintra, with your guide providing commentary along the way. At Pena Palace, the guided visit covers the Romanticist architecture and the history of the royal summer residence, with time to take in the views from the terraces.
From there, the group heads into the UNESCO World Heritage-listed historic center of Sintra for free time to explore, browse local shops, and sample pastries such as the travesseiros—the town's signature pillow-shaped pastry—before continuing west to Cabo da Roca, the westernmost point of continental Europe, for a short stop.
The final stop is the seaside town of Cascais, with time to have lunch independently, walk the waterfront, or relax before the return drive along the Estoril Coast to Lisbon.
The drive to Sintra takes you through the forested hills of the Serra de Sintra, with your guide providing commentary along the way. At Pena Palace, the guided visit covers the Romanticist architecture and the history of the royal summer residence, with time to take in the views from the terraces.
From there, the group heads into the UNESCO World Heritage-listed historic center of Sintra for free time to explore, browse local shops, and sample pastries such as the travesseiros—the town's signature pillow-shaped pastry—before continuing west to Cabo da Roca, the westernmost point of continental Europe, for a short stop.
The final stop is the seaside town of Cascais, with time to have lunch independently, walk the waterfront, or relax before the return drive along the Estoril Coast to Lisbon.
1
Park and National Palace of Pena
1 hour 30 minutes • Admission Ticket Included
2
Centro Historico de Sintra
45 minutes • Admission Ticket Free
3
Cabo Da Roca
20 minutes • Admission Ticket Free
Guincho Beach (Pass By)
4
Centro Historico de Cascais
1 hour 30 minutes • Admission Ticket Free
Casino Estoril (Pass By)
Additional Info
- Confirmation will be received at time of booking
- Not wheelchair accessible
- Service animals allowed
- Near public transportation
- No heart problems or other serious medical conditions
- Travelers should have a moderate physical fitness level
- Food and beverages not allowed on board (water ok)
- 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
Reviews
5.0
based on 377 reviews
Sort by: Most insightful
My wife and I took this private tour and it was a highlight of our week in Portugal. Sandra picked us up at our hotel right on time and started us at Pena Palace. From there we went through Sintra, out to the cliffs at Cabo da Roca, and down the coast to Cascais and Estoril. She knows the history inside and out and tells it with warmth and humor. Even with that much ground to cover, we never felt rushed. She also worked our lunch reservation into the day without any fuss. A private guide makes all the difference, and Sandra is the reason why. Ask for her if you can!
Response from Host, Nov 2026
Thank you so much, Gana! We're thrilled that your day with Sandra became one of the highlights of your week in Portugal! 😊 From Pena Palace to the breathtaking cliffs of Cabo da Roca and the beautiful Cascais coastline, it's wonderful to know you enjoyed every stop without ever feeling rushed. Sandra loves bringing Portugal's history to life with a little humour along the way! And we're glad lunch fitted perfectly into the day too. Thank you for recommending her so warmly!
Great tour! Sandra was extremely knowledgeable and very flexible to meet our needs. Love the hotel pick up and drop off. Definitely worth the extra cost for a stress free vacation.
Response from Host, Nov 2026
Thank you so much, June! We're delighted you enjoyed your day exploring Sintra and Cascais with Sandra. 😊 A stress-free day, with hotel pickup, flexible plans and someone else taking care of all the details... that's exactly what a private tour should be! We're so happy you felt it was worth the investment. Thank you for choosing No Map Tours!
A super experience! Sandra was delightful company. She was so knowledgeable and was able to answer all our questions. The Pena palace is beautiful and the views are amazing. Sandra’s recommendations for lunch and coffee spots were delicious. We all had a wonderful day with thanks to Sandra’s knowledge, enthusiasm and wonderful personality.
Response from Host, Nov 2026
Thank you so much, Julie! 😊 We're delighted you all had such a fantastic day with Sandra. Between Pena Palace's stunning beauty, those breathtaking views and a few delicious local recommendations, it sounds like the perfect Sintra experience! It's wonderful to know Sandra's knowledge and enthusiasm made the day so enjoyable. We hope to welcome you back to Portugal!
A wonderful private tour exploring major sites outside of Lisbon with a welcoming, professional, and very knowledgeable guide! Luis made sure we had a smooth and interesting Pena Palace experience ahead of the crowds, and had excellent recommendations for cafes/restaurants, foods to try, photo ops - and even bathrooms - as well as how to spend our free time in both Sintra and Cascais. Seeing the “end of the world” at Cabo da Roca, the westernmost point of Europe was impressive, too. Luis guided us through it all safely in and out of a clean, well-appointed vehicle, pointing out landmarks and buildings through the day. My husband was initially reluctant to do a private tour, but his mind was changed within the first hour into our excursion.
You will be provided bottled water, WiFi in the vehicle, and ample time to explore each location, and you will be privately guided through the Pena Palace and grounds at your pace. Wear comfortable shoes and be ready to walk uphill over varied terrain, including steps, inclines, and cobblestones. I would advise you leave the flip flops at home, but you will be comfortable in any clothing so long as you have some traction on your shoes. It was also a nice bonus that we were picked up and dropped off at our hotel. Luis shared the historical significance of all of the locations we visited.
I would 100% recommend this tour - and plan to do so for some friends who will visit soon.
Enjoy and a big thank you to Luis for a truly enjoyable day!
Response from Host, Nov 2026
Thank you so much, Caroline, for such a wonderful and detailed review! 😊 We're delighted that Luis made your day so enjoyable, from beating the crowds at Pena Palace to discovering Sintra, Cascais and the breathtaking views at Cabo da Roca. We love that even your husband became a private tour convert within the first hour! 😉
It's lovely to know you appreciated the little details, local recommendations and time to explore at your own pace. Thank you for your enthusiastic recommendation and for spreading the word to your friends. We'd love to welcome them on their own Portuguese adventure!
This was absolutely an amazing tour with Sandra, our guide. With 17 years of experience (as of this post in August of 2026), she provided us with an incredible amount of information and planned a perfect day!
We started at Pena Palace, which was perfect. It was cloudy / foggy when we started, but most of the first part was inside the palace. An amazing place, made better by Sandra’s explanations and information shared. By the time we went through the palace and got out, the sun had come out and the clouds had parted!
We then went to old Sintra before going to Cabo Da Roca. Old Sintra was a quaint little town, where Sandra introduced us to Piriquita, a unique local pastry that was absolutely delicious.
From there, we went by Cascais for the final stop. Sandra provided us spot on suggestions for lunch. We walked around and shopped, with Sandra providing us with a meeting spot that was easy to identify and get to.
In short, Sandra was great. She gave us directions and plenty of time to do as we pleased. She was amenable to change in schedule, although none was necessary.
If you are considering a tour to Pena Palace, Sintra, Cabo da Roca or Cascais, you need to schedule here. You will NOT be disappointed.
Response from Host, Nov 2026
Thank you so much, Jonathan, for such a fantastic review and recommendation! 😊 We're delighted you had such a wonderful day exploring Sintra and Cascais with Sandra. From the magical atmosphere at Pena Palace (even with a little morning fog!) to tasting the famous travesseiros at Piriquita, discovering Cabo da Roca and enjoying beautiful Cascais, it's lovely to know you enjoyed every stop.
We’re especially happy that Sandra’s knowledge, flexibility and local recommendations helped make the day so enjoyable and relaxed. And we're glad the sun decided to join the tour too! ☀️
Thank you for choosing No Map Tours and for encouraging other travellers to book with us. It truly means a lot!
Our tour guide Luis was absolutely phenomenal! I do not believe we would have enjoyed this tour as much, if we had any other operator. Luis went above and beyond to make this a memorable experience for us. I felt like a princess walking through Pena Palace. Luis was sure to take all of the photos at all the best angles and even showed us how to edit the photos. Cascais is absolutely beautiful. Luis recommended an amazing restaurant for lunch. His knowledge and expertise in the history of Portugal, blew our minds. We travel often and take many tours, hands-down Luis is the best tour operator we have ever had in any of the countries we have traveled to. It truly felt like we were hanging out with a friend for the entire tour. From the moment he had picked us up, to the moment he had dropped us off, he made us feel welcome and truly made the experience memorable. We highly recommend Luis and this tour.
Response from Host, Nov 2026
Wow, Nicole! What a wonderful review! 😊 We're absolutely thrilled that Luis made your couples' getaway so special! From feeling like a princess at Pena Palace to finding the perfect photo angles, discovering beautiful Cascais and enjoying a delicious local lunch, it sounds like a fantastic day!
Knowing that Luis made you feel like you were exploring Portugal with a friend is exactly the experience we strive to create. And being called the best guide you've ever had, after all your travels, is an incredible compliment!
Thank you for your lovely words and enthusiastic recommendation. We hope to welcome you both back for another unforgettable Portuguese adventure! ❤️
Luis was incredible! He was on time, was so engaging with so many facts and knew all the best places to eat, shop and park for the best experience. A must do experience and he was the perfect guide. We learned so much and had such a great time seeing so much of Portugal, 10/10 recommend! A highlight of the trip, thank you Luis!
Response from Host, Nov 2026
Thank you so much, Sophe! 😊 We're delighted you had such a fantastic day with Luis. He's passionate about sharing Portugal's hidden gems, local favourites and fascinating stories, so it's wonderful to hear you enjoyed his recommendations and discoveries along the way. A 10/10 recommendation means the world to us! We hope to welcome you back for another Portuguese adventure!
Sandra was an excellent tour guide and easy to converse with. She was very well versed in the area and content. She accommodating to our family as needed and even brought us laughs!
Taking this tour was worth the investment and the time.
Response from Host, Nov 2026
Thank you so much, Lisa! 😊 We're thrilled Sandra made your family day in Sintra and Cascais so enjoyable. A little history, plenty of interesting stories, some laughs and a few special family memories along the way. That's what it's all about! We're delighted you felt the experience was worth every moment. Thank you for choosing No Map Tours!
The tour was very well timed and we missed the crowds so felt relaxed. Luis Oliveira our guide was knowledgeable and friendly, it was like being taken round with a local who you'd know for years. He took us into places where you wouldn't have gone if you didn't have the inside knowledge. This day was the highlight of our trip to Lisbon.
Response from Host, Nov 2026
Thank you so much, Paul! We're thrilled to hear that your day with Luis was the highlight of your Lisbon trip! 😊 That's exactly the kind of experience we love to create: a relaxed day, away from the crowds, with a few local secrets along the way. Luis was delighted to know he made you feel so welcome. And we love your advice: asking for Luis as your guide is certainly a great choice! 😉
Sandra was an AMAZING tour guide. She was so knowledgeable about everything and created such a fun, wholesome experience. We talked about all things and she made us feel so comfortable.
Response from Host, Nov 2026
Angela, thank you so much for this amazing review! 😊 We're absolutely thrilled you had such a wonderful time with Sandra. Great conversations, lots of laughs, fascinating stories and beautiful places... that's exactly what we love to bring to our tours! We're so happy you felt comfortable and enjoyed every moment. Come back soon for more Portuguese adventures! 😉
We had Luis for our driver. He was knowledgeable, funny, kind, and had the best recommendations. We really enjoyed our time. The trip was the perfect balance of activity and relaxing at meals. My only advice is to wear walking shoes, eat seabass in Cascais, and take lots of photos!
Response from Host, Nov 2026
Thank you so much, Elizabeth! 😊 We’re delighted you had such a wonderful day exploring Sintra and Cascais with Luis. A great guide, beautiful views, delicious seabass in Cascais and plenty of photo stops... sounds like the perfect recipe for a memorable day! And we couldn’t agree more about the walking shoes! 😉 We hope to welcome you back to Portugal for another adventure soon!
Cannot say enough amazing things about this tour and our wonderful tour guide Sandra. We were blown away by all of her knowledge and she made our tour so enjoyable. We really loved the Pena Palace and while some people told us it was overrated to go, we did not feel this way! It was such an amazing experience. 10/10 recommend this tour and Sandra!! :)
Response from Host, Nov 2026
Thank you so much, Amber! What a lovely review! 😊 We're thrilled you had such a fantastic day with Sandra and that Pena Palace lived up to the hype! It really is a magical place, and we're so happy you enjoyed every moment. Your 10/10 recommendation means the world to us! We hope to welcome you back to Portugal for another adventure soon!
Luis was a fantastic guide. He was so knowledgeable and informative. He gave us plenty of time to see the sights and do some shopping. His recommendations for lunch and the small pastry shop were excellent. This was an outstanding 5 star tour we would highly recommend
Response from Host, Jun 2026
Thank you so much, Michael! We’re delighted to hear you had such a great day in Sintra and Cascais with Luis. He’ll be very happy to know his knowledge, recommendations, and pacing helped make the experience so enjoyable. We’re especially glad you had time to explore, shop, and enjoy some of the local food and pastries along the way. Thank you again for the wonderful recommendation!
There was a fair amount of walking uphill on cobblestones at the Pena Palace. The palace is of an eclectic design and is a unique experience to visit.
Our tour guide Sandra P was excellent! She was very knowledgeable, timely, personable, and very friendly. She gave us an excellent recommendation for lunch in Cascais! We completely enjoyed our experience today and thankful for Sandra’s expertise!
Response from Host, Jun 2026
Thank you so much, Don! We’re delighted to hear you enjoyed your visit to Pena Palace and your day exploring Sintra and Cascais.
Sandra will be thrilled to know her knowledge, punctuality, and friendly approach helped make the experience memorable. And we’re especially happy that the lunch recommendation in Cascais was a hit! 😊
Thank you again for your kind words. We’re so glad you had such an enjoyable day.
Our guide, Louis, gave us the most comprehensive tour we’ve ever had. He was so knowledgeable about Lisbon, Sintra, Pena Palace and Cascais that we couldn’t even come up with questions. We had a great day and thoroughly enjoyed the tour.
Response from Host, Jun 2026
Thank you so much, Doug! We’re delighted to hear that your day in Sintra and Cascais was such a great experience.
Luis was thrilled to know his knowledge made such an impression. Keeping guests engaged to the point where there are no questions left is quite a compliment! 😊
We truly appreciate your kind words and are so glad you thoroughly enjoyed the tour.
It has breathtaking views. Not only is the castle picturesque, the small towns and coastline were amazing!
Prepare for a lot of uphill walking to the castle
Louis was an amazing guide who worked to our pace and interests
Response from Host, May 2026
Hi Don,
Thank you so much for the lovely review! We’re delighted to hear you enjoyed the breathtaking views of Pena Palace, Sintra, and the coastline.
Luis will be very happy to know he helped tailor the day to your pace and interests. And yes, Sintra definitely rewards those uphill walks with unforgettable scenery 😉
We truly appreciate your kind words!
That it is enlightening and you will have a good time. There is so much to learn about this country, it’s fitting, how they rebuilt after a devastating earthquake and tsunami and still stand strong today. Also, we had the best tour guide me Luis O. OMG, he was soooooo sweet and very knowledgeable about this country. He recommended a spot for us to eat and it was delicious!!!!! While visiting the castle in Sintra, there was a wreck and we stayed in the car but he was so sweet to continually check on us. He is a beautiful soul. I highly recommend that anyone coming to Lisbon and need a tour, ask for Luis O..
Response from Host, May 2026
Thank you so much, Glinda, for such a heartfelt review! We’re truly happy to hear that Portugal’s history, culture, and food made such a strong impression on you.
Luis was deeply touched by your kind words. Taking care of guests and making sure everyone feels comfortable and welcomed is something he genuinely cares about, and we’re so glad that came through during your day together.
We also love that you enjoyed the restaurant recommendation (good food is an essential part of Portugal after all 😉).
Thank you again for your beautiful words and recommendation. It means the world to us!
A wonderful personalized day with many options to tailor to your taste. It was hugely enjoyable, informative, and comfortable! I highly highly recommend Sandra! We arrived yesterday afternoon and even with some tired teens,, they immediately recognized what a great day we would have!
Response from Host, Apr 2026
Thank you so much for the fantastic review! We’re delighted to hear your Sintra and Cascais private tour was such an enjoyable, informative, and comfortable experience - even winning over the tired teens, which is always a great sign 😉
Sandra was thrilled to know her personalized approach made the day so special. We truly appreciate the high recommendation and hope to welcome you all again in Portugal!
Our tour guide, Luis, was phenomenal. He was extremely knowledgeable, kind and courteous at all times. We thoroughly enjoyed the tour locations and Luis went out of his way to make it special for us. Would highly recommend!
Response from Host, Apr 2026
Thank you so much for the wonderful review, Edward! We’re delighted to hear you thoroughly enjoyed your Sintra and Cascais tour.
Luis was very happy to know his knowledge, kindness, and attention to detail made the experience special for you.
We truly appreciate the recommendation - thank you for choosing us!
This was very extensive tour of Lisbon. Our driver/tour guide - LUIS OLIVIERA was very personable and a wealth of information about Portuguese history, & ESPECIALLY LISBON.
Response from Host, Apr 2026
Thank you for your kind words! We’re so glad you enjoyed such an in-depth day and that it gave you a strong feel for Lisbon and its history.
Luis especially appreciated your mention - sharing those stories and details about the city is something he truly enjoys.
Highly Recommended! Luis O. was on time and very knowledgeable. Thank you for the wonderful exprerience!
Response from Host, Apr 2026
Thank you so much, Dawn! We’re really glad you had such a smooth and enjoyable day in Sintra and Cascais.
Luis appreciated the shoutout - being on time is the easy part, but sharing the stories behind each place is where he really enjoys making a difference.
Thanks again for the recommendation!
Best way to see Sintra and the Peña Palace. Our guide, Sandra, was excellent and very knowledgeable about Portugal history.
Response from Host, Jan 2026
Thank you for your review, Cynthia. We’re very pleased to hear that you enjoyed the tour and found your guide, Sandra, to be excellent and knowledgeable. We truly appreciate your feedback.
We had a wonderful day trip guided by Luis O. He was very knowledgeable and took care of everything. We just had to enjoy the day. My daughters and I think it is the highlight of our trip to Lisbon. 10/10 recommend.
Response from Host, Jan 2026
Thank you for your review, Linda. We’re delighted to hear that you and your daughters had such a wonderful day and that the tour with Luis was a highlight of your trip to Lisbon. We truly appreciate your recommendation. It’s great to know you could relax and simply enjoy the experience, and we hope to welcome you back to Portugal in the future.
Sandra is an absolute gem of a guide - very interesting and explains the history and scenery beautifully.
Response from Host, Jan 2026
Thank you for your review, Harriet. We’re very happy to hear that you enjoyed the tour and found Sandra to be such a wonderful guide. Your kind words about her knowledge and storytelling are truly appreciated, and we’re glad the experience made your visit to Sintra and Cascais so enjoyable.
Expect a dedicated guide who possess a wealth of knowledge a love for his country (Portugal) and shares that knowledge freely. Luis takes your needs and requests and makes them a priority. There is some walking required and some is up steep cobblestone walkways but to be expected considering the palace location. Follow the recommendation to be EARLY.
Response from Host, Dec 2025
Hi Stephen,
Thank you so much for the glowing review! It was a real pleasure having you on the Sintra and Cascais tour, and we're thrilled to hear you enjoyed the experience. Your kind words about the guide Luis and the "perfect Pena" palace visit mean a lot.
Hope to welcome you back to Portugal!
What a terrific day trip! Sandra is an educated, professional, knowledgeable and friendly guide. She thoroughly knows her way around Pena Palace and gave us ample time to explore Sintra and Cascais on our own. I highly recommend requesting her. Obrigada, Sandra!
Response from Host, Dec 2025
Hi Eva,
Thank you so much for the wonderful 5-star review! Sandra will be delighted to hear your kind words. We're thrilled that you enjoyed the day exploring Pena Palace, Sintra, and Cascais, and that Sandra’s knowledge and friendly guidance made the experience outstanding.
We truly appreciate the recommendation — obrigada to you as well!
Cheers.
Luís was a gracious and knowledgeable guide. He was punctual and offered suggestions of what to visit while in Portugal. We took a lot of great pictures and he knew all the best viewpoints. Just request Luís and you’ll be happy you did. We had a great day!
Response from Host, Dec 2025
Thank you so much for the wonderful review! We’re delighted to hear that you had a great day exploring Sintra and Cascais with Luís. He’ll be very happy to know his punctuality, suggestions, and favorite viewpoints made your experience memorable.
We truly appreciate the recommendation — requesting Luís is always a great choice!
Fabulous trip. A must when in Lisbon. Our guide Luis was excellent. He was a lot of fun, very accomodating and extremely knowledgeable! He did an excellent job! Would highly recommend him!! Thank you , Luis. You were amazing!
Response from Host, Dec 2025
Thank you so much, Sandra, for the fantastic review! We’re thrilled to hear you had such a fabulous day exploring Sintra and Cascais. Luis will be delighted to know his knowledge, flexibility, and fun approach made the experience amazing for you.
We truly appreciate the recommendation — and thank you for the kind words!
Thought we had booked an all day tour but in the small print said it was half day even though description showed a full day, Sandra was great and made it work and we enjoyed
Response from Host, Dec 2025
Hi Rich,
Thank you so much for sharing your feedback! We’re really glad to hear that Sandra made the experience enjoyable. She’ll be happy to know her flexibility and guidance helped make the tour work smoothly for you.
We truly appreciate you taking the time to leave a review!
Sandra was the best tour guide we have ever had! She accommodated all our requests with ease and grace. Sinatra was so interesting. Car was very comfortable. Sandra adapted to our teasing and joking and became the master of both. Can not overstate how great a tour this was.
Response from Host, Dec 2025
Hi Brett,
Thank you so much for this amazing review! We’re thrilled to hear that your day with Sandra was the highlight of your entire trip. She’ll be delighted to know her flexibility, humor, and insights made the experience unforgettable.
We truly appreciate your kind words — and we’re so glad you enjoyed Sintra, the comfort of the car, and all the fun along the way!
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