Sintra, Roca and Cascais Full-Day Private Tour with Pena Tickets
Recommended by 100% of travelers
Badge of Excellence
Lisbon, Portugal
- 8 to 10 hours (approx.)
- Pickup offered
- Group discounts
- Mobile ticket
- Offered in: English
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Overview
Discover many of Portugal’s highlight attractions—from UNESCO World Heritage sites to coastal resorts, and more—on this private, full-day tour from Lisbon. After morning pickup at your hotel, hop aboard your private vehicle and head to the famed city of Sintra, where you can explore iconic landmarks, including the new wing of Pena Palace. You will also visit Cabo da Roca (the westernmost point in continental Europe) and Cascais, a scenic resort city.
- This private tour ensures a personalized, luxurious way to explore
- Visit Sintra, Cabo da Roca, and Cascais, all in one day
- Round-trip transit from your hotel makes exploring easy
- Get up close and personal with a UNESCO World Heritage Site
What's Included
- Air-conditioned vehicle
- WiFi on board
- Private transportation
- Pena Palace tickets
- Guided tours inside the monuments
- Insurance demanded by Portuguese Tourism board
- Bottled water
- LunchFood and beverage not included
- Tickets to monuments. Except Pena Palace
Meeting and Pickup
Pickup points
Select a pickup point
Pickup details
For our private tour, kindly share your hotel name and street address with us. In case your hotel isn't listed but falls within the Big Lisbon area, simply inform us after booking – there's no additional charge for pickup.
Start time.9:00 am
Itinerary
1
Ticket office Pena Park
1 hour 30 minutes • Admission Ticket Included
2
Castelo dos Mouros
20 minutes • Admission Ticket Not Included
3
Centro Historico de Sintra
1 hour • Admission Ticket Free
4
Quinta da Regaleira
1 hour 15 minutes • Admission Ticket Not Included
Parque e Palacio de Monserrate (Pass By)
5
Cabo Da Roca
20 minutes • Admission Ticket Free
Guincho Beach (Pass By)
6
Boca do Inferno
20 minutes • Admission Ticket Free
Restaurante Baía (Pass By)
Additional Info
- Confirmation will be received at time of booking
- Not wheelchair accessible
- Near public transportation
- Infant seats available
- Travelers should have a moderate physical fitness level
- Wear confortable shoes for walking
- 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
Reviews
5.0
based on 96 reviews
Sort by: Most insightful
This was one of my favorite days of our trip! Many different locations and free time! The towns were so beautiful and different and our guide, Natasha was wonderful and a wealth of knowledge. Must do!!!
Response from Host, Jul 2026
Thank you for this — I'm really happy the day earned a spot among your favorites. That mix of towns, each with its own character, plus enough free time to just wander a bit, is exactly the balance we aim for on that route.
I'll pass your kind words along to the team as well.
Thank you again, and I hope Portugal calls you back before too long.
Rui
Natacha is one of the best tour guides we have ever had, and we have taken many tours over the years. Her knowledge, friendly personality, and welcoming manner were exactly what our family needed while traveling with our children.
As a local, Natacha truly knows her stuff. She shared fascinating insights and details throughout the day that brought each stop to life and made the experience even more meaningful. She was patient, engaging, and wonderful with our kids, making everyone in our family feel comfortable and included.
We would highly recommend this full-day tour to anyone visiting the area—but if you have the opportunity, be sure to request Natacha. She made an already fantastic tour absolutely unforgettable.
Response from Host, Jun 2026
Dear Family,
Thank you so much for this wonderful review — it truly made our day!
It means the world to us to hear that your guide made your family feel so welcome and that her knowledge brought each stop to life. Traveling with children can be a challenge, and knowing everyone felt included and at ease is exactly what we strive for.
We will make sure she knows how much your kind words mean — she absolutely deserves it.
We hope to welcome your family back to Portugal one day!
Warm regards,
Rui
Marta gave us a warmhearted tour with lots of personal attention. It’s the details that matter on a tour like this, and Marta was great.
Response from Host, Jun 2026
Thank you, William — couldn't agree more. The details are everything. Glad Sintra, Roca, and Cascais felt personal and unhurried. Hope Portugal stays with you.
Rui
This full day private tour was beyond our expectations! Our guide, Marta, was personable, funny, and very knowledgeable about the history of Portugal and more specifically, about the sights we saw. She brought us to quaint little shops that helped make the trip even more special. Would highly recommend!
Response from Host, Jun 2026
Thank you, Angela — Sintra, Roca, and Cascais pack a lot into one day, and we're glad it all felt special rather than rushed. Those quieter little stops along the way are often what people remember most. Hope Portugal is firmly on the list for a return visit.
Rui
Such a great tour, we booked again for the next day! Everything was unbelievably perfect. The logistics were superb-easy pickup at our hotel, great communication, perfect van. All the details were handled. Our guide, Marta, had coordinated beforehand and made lunch reservations and had everything handled. But, hands down, the highlight was our guide herself, Marta! She was an absolute joy-friendly, knowledgeable, perfect English, and just an overall great person. I’d say we all became friends after our two days together. (And we really did book her for a trip to Fatima the next day on the spot. We had such a great time with her, we were ecstatic to spend the next day as well!) Can’t recommend this tour enough! It was perfect!!
Response from Host, Jun 2026
Thank you — booking a second day on the spot is about the finest compliment a tour can receive. Sintra, Roca, and Cascais is already a full day, and then heading to Fátima the next morning — that's Portugal done properly. Glad the logistics felt effortless and that everything came together the way it should. Hope to welcome you back for a third day one day.
Rui
What an amazing day! Rui was exceptional! We saw so much in one day but never felt rushed. Sintra was so beautiful! Cascais was stunning! We highly recommend booking this tour!
Response from Host, Jun 2026
Thank you, Barb — that stretch from Sintra to Roca and down to Cascais packs a lot into one day, and I'm glad it felt unhurried despite it all. That coastline has a way of making time feel generous. Hope to see you back in Portugal one day.
Rui
Jon was great, The private tour was wonderful. Jon was knowledgeable and very nice. He arranged a great spot for lunch.
This tour was amazing. Marta was an amazing guide, I would definitely request her. The sites were beautiful and my 11 year old twins had the best day. She was so good with them always engaging them. She even climbed up towers with them bc we couldn’t due to injuries. She helped me walk and brought the car for us. Highly recommend
Excellent!!! RUI was our tour guide and from start to finish he was wonderful. We felt like VIP. Very knowledgeable and took us to a great place to eat . I would recommend this tour and make sure you ask for Rui .
Our guide Rui was knowledgeable, charming, and passionate about the local history and the locations were beyond beautiful. The coastline was breathtaking and the wells and gardens of Sintra were among the most interesting sites I have ever visited. Highly recommend this tour to anyone coming to Lisbon.
Response from Host, Aug 2025
Thank you so much for your fantastic review! We’re thrilled to hear that your full-day private tour to Sintra, Roca, and Cascais was such a memorable experience. It’s wonderful to know that our guide’s knowledge, charm, and passion for local history added so much to your journey.
We’re delighted that you found the coastline breathtaking and that the wells and gardens of Sintra were among the most interesting sites you’ve ever visited. Sintra, Roca, and Cascais are indeed spectacular locations, and we’re so glad you got to experience their beauty with us.
Thank you for highly recommending this tour—it means a lot to us! We’d be honored to welcome you back for more unforgettable adventures in the future!
Kind regards,
Rui
Pena palace, regaleira, Monserrate great places to visit. We had ton off good times. He was so considerate to take us in bus to avoid walking inside those places. Cabo da Roca We went at the right time. We had so much time to walk around and to get few photographs. Cascais Was awesome. It was perfect day too. Run was a great guide.
Response from Host, Jan 2025
Hello,
Thank you so much for sharing your experience about the private tour to Sintra, Cabo da Roca, and Cascais! I’m thrilled to hear that you enjoyed visiting incredible places like Pena Palace, Regaleira, and Monserrate.
It’s wonderful to know that your visit to Cabo da Roca was well-timed, allowing you ample opportunity to explore and capture photos. Cascais is a charming destination, and I’m glad it was a perfect day for you.
I appreciate your kind words , and I hope to have the opportunity to welcome you back on another tour in the future!
Kind regards,
Rui
The weather was horrible, but Rui made every effort to be optimistic and helped us see everything we hoped to see. He arrived on time, he was considerate that I left my iphone in the car, and he was a very cautious driver. Thank you for an almost perfect day. Too bad you can't control the weather.
Response from Host, Jan 2025
Thank you for your kind review! We're glad to hear that you had a great day on the Sintra, Cabo da Roca, and Cascais tour, even despite the weather. It's wonderful to know that you recognize every effort made to keep the experience positive and helped you see everything you hoped to.
I appreciate your feedback about punctuality and consideration regarding your belongings, as well as the careful driving. While we can't control the weather, we're delighted that we could contribute to an enjoyable day nonetheless.
Thank you once again, and we hope to welcome you on another adventure in the future!
Best regards,
Rui
Ruiz was wonderful. He shared all of the history with us and you can tell he is very passionate about what he does. As an added bonus, he is also a great photographer !
Response from Host, Jan 2025
Thank you for your wonderful review! I'm delighted to hear that you had a full and enjoyable day on the Sintra, Cabo da Roca, and Cascais tour. It’s great to know that you felt my passion for history and that I've tried to made the experience even more engaging.
Thank you for sharing your feedback, and I hope to welcome you back for another unforgettable adventure in the future!
Kind regards,
Rui
Rui met us promptly at our hotel and took us on a private tour of Sintra , Cascais and Roca , including a lovely local authentic Portuguese restaurant for lunch , he was super attentive , got us through all the long queues at the various sights very quickly , informative and had many interesting snippets of local knowledge to share, it was an action packed day out , we wouldn’t have seen so much without his help , he was also an excellent and safe driver with a comfortable car .
Response from Host, Jan 2025
Thank you for your fantastic review, Alice! We're thrilled to hear that you had an action-packed day exploring Sintra, Cascais, and Cabo da Roca. It’s wonderful that our guide was attentive and helped you navigate the queues efficiently, providing you with informative insights along the way.
We’re glad you enjoyed the authentic Portuguese restaurant for lunch and appreciated the comfortable ride. Your feedback means a lot to us, and we hope to welcome you back for another memorable adventure in the future!
Best regards,
Rui
Two couples went to Centra for the day with Rui as our guide. Had a great time had the ability to adjust timing in several events Overall, excellent day
Response from Host, Jan 2025
Thank you for your review, Jerry! We’re delighted to hear that you and your friends had a great time on the Sintra, Cabo da Roca, and Cascais tour. It’s wonderful that you appreciated the flexibility in the timing of the events, allowing you to enjoy your day to the fullest.
We’re glad to know it was an excellent day for you all, and we look forward to welcoming you back for more memorable experiences in the future!
Best regards,
Rui
We booked this tour for our family of nine. Pedro and Rui were outstanding!
They picked us up at two different locations with two vans. They were very knowledgeable and patient: we never felt rushed.
Pena Palace was incredible! Thanks to our guides we skipped the long lines.
They went above and beyond pointing at all the best places to take a picture and they suggested a wonderful pastry shop where we stopped for lunch. The sandwiches were huge, delicious and not expensive at all.
Thank you Rui and Pedro!
Response from Host, Apr 2025
Thank you for your wonderful review! We’re thrilled to hear that your family had an outstanding experience on the full-day private tour to Sintra, Cabo da Roca, and Cascais. It’s great to know that you were well taken care of and that you enjoyed the incredible Pena Palace, along with the tips for capturing the best photos.
We’re also glad you had a delicious lunch at the suggested pastry shop—it's always nice to find great food at a good value!
Your kind words mean a lot to us. Thank you for choosing us, and we hope to welcome you back for another memorable adventure in the future!
Our guide/driver, Rui, was the best. He made this trip very special. Sintra is a must see and we want to cone back to Cascais to spend more time.
Response from Host, Apr 2025
Thank you for your wonderful review! We’re so glad to hear that you had a special experience on your full-day private tour to Sintra, Cabo da Roca, and Cascais. It’s great to know that your guide made a positive impact on your trip.
Sintra is indeed a must-see, and we’re pleased that you’re looking forward to returning to Cascais to explore more of its charm.
Thank you for choosing us, and we hope to welcome you back for another memorable adventure in the future!
Rui grew up in the area, took us to the best spots, and managed our time well so that we were able to cover a lot of ground. He also gave us fascinating commentaries from his childhood days in Sintra.
Response from Host, Apr 2025
Thank you for your wonderful review! We’re thrilled to hear that you had a memorable experience on your full-day private tour to Sintra, Cabo da Roca, and Cascais. It's fantastic to know that your guide utilized local knowledge to take you to the best spots and managed your time effectively to cover a lot of ground.
We’re glad you enjoyed the fascinating stories and insights shared about the area. Thank you for choosing us, and we hope to welcome you back for another adventure in the future!
We were able to see and experience so much in Sintra because our guide knew how to fit it in and still give us a feeling of relaxation and time at every stop.
Response from Host, Apr 2025
Thank you for your wonderful review! We’re thrilled to hear that you had such an enriching experience on your full-day private tour to Sintra, Cabo da Roca, and Cascais. It's great to know that your guide was able to balance fitting in all the amazing sights while still providing a relaxed atmosphere at each stop.
Your feedback is greatly appreciated, and we hope to welcome you back for another memorable adventure in the future!
We had the most incredible day with Rui! He is so knowledgeable and really spent time explaining and showing us the best highlights!! I highly highly highly recommend him! The certifiable of excellence was well given.
Response from Host, Apr 2025
It's fantastic to hear that you had the best day in Sintra with Rui! His knowledge and dedication to showing you the highlights of the area truly make the experience special. Your enthusiastic recommendation means a lot, and it's great to see that you feel he deserves the certificate of excellence.
If you have any more details to share about your day, or if you're planning future trips and need assistance, feel free to let me know! Your experience will undoubtedly inspire others to explore Sintra with Rui.
Rui was fantastic. Very attentive, patient and knowledgeable. We learned a lot about Portuguese culture and history. His recommendations were excellent. Excellent vehicle too. Highly recommended.
Response from Host, Apr 2025
Thank you for your wonderful review! We're thrilled to hear that you had a great full-day tour with Rui. His attentiveness, patience, and deep knowledge of Portuguese culture and history truly make a difference in enriching the experience for his guests.
It's also great to know that his recommendations and the quality of the vehicle added to your comfort and enjoyment. Your high recommendation is greatly appreciated and will help others in choosing their tours. If you have any future travel plans or questions, feel free to reach out!
What an amazing tour!!! Rui is an excellent tour guide who never rushed us and let us enjoy the various sites. He was patient and informative. Highly recommend this tour.
Response from Host, Apr 2025
Thank you for sharing your fantastic review! It’s wonderful to hear that you had an amazing tour with Rui and that he provided such a great experience without rushing you through the various sites. His patience and informative approach clearly contributed to your enjoyment.
Your high recommendation will definitely assist others in choosing this tour. If you have any more highlights to share or need assistance planning future travels, feel free to reach out!
What an amazing day! From start to finish, Riu was a thoughtful, knowledgeable and accommodating host and guide. He made the day run very smoothly and I can’t believe we packed so many beautiful sights into one day. We are seasoned travelers and I give this tour my highest recommendation.
Response from Host, Feb 2023
Hi Linda.
Glad you enjoy your day. Hope you enjoy the rest of your holidays.
Regards
Rui (not Riu 😁)
This was a great day trip! We truly hit all of the highlights in such a short amount of time. Rui presented us with options for our day and catered to exactly what we wanted. This was such a good value for the price and we never felt rushed - I can’t imagine a better way to spend the day in Sintra + Cabo Do Roca was an amazing bonus. Don’t hesitate booking this!
Response from Host, Jan 2023
Thank you so much.
Really happy that you enjoyed.
Rui
We had a wonderful tour thanks to our guide Rui! He went above and beyond our expectations. My wife is limited physically and he was able to cater to both our wants and needs to see all and even more than we had hoped. He is from the area and knew all the important and interesting places ro see along the way- including some excellent local pastries, unique sandwiches and even gelato. (All our requests) He would have shown us fine dining as well if we had wanted but we wanted quick eats to see more things.
Rui is a hugely knowledgable gentleman able to answer all our questions whether it be about culture, history, government or sports.
We would highly recommend Rui for any tour you might desire - he will tailor it to your needs as he did ours. Thank you Rui for our best ever private tour.
Ronnie and Patti from Texas
Response from Host, Jan 2023
Hi Ronnie and Patti. You make me blush. You are just too kind. Really happy you nejoyed your day.
Trip was great, the guide was knowledgeable, approachable, and friendly.
The trip itself was very memorable. Highly recommend!!
Response from Host, Jan 2023
Thank you for your words
Rui
We had a great time with Carlos, he was informative about the history and very accommodating during our tour. Carlos gave us tips to make the most of our time at sites. Lunch was delicious at Incomun by Chef Santos.
Response from Host, Jan 2023
Glad you enjoyed Carlos as your guide.
Rui
Amazing full day tour with Rui. He was an excellent tour guide with a lovely van and took us to many additional places. He was flexible with the itinerary to accommodate for road closures and we didn't feel rushed at any point.
Would highly recommend this tour!
Response from Host, Jan 2023
Thank, really apreciate
Rui
Rui was the best guide ever! He picked us up from our hotel & was super friendly! He totally tailored the tour to what we wanted to see & was very patient and flexible. Sintra is a dream with palaces & history around every corner! Cabo Da Roca was beautiful & rustic & Cascais is dreamy for beach lovers! I highly recommend Rui as your guide!
Response from Host, Jan 2023
Allways get amazed with thak kind of words. Really don't know what to say. Eveyrone are so kind. Thanks.
Rui
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