Small-Group Lisbon to Sintra, Pena, Regaleira, Cabo Roca, Cascais
Recommended by 98% of travelers
Badge of Excellence
Lisbon, Portugal
- 8 hours (approx.)
- Pickup offered
- Group discounts
- Mobile ticket
- Offered in: English
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Overview
Discover the spread-out highlights of Sintra and the Portuguese coast, without worrying about logistics, on this small-group day trip from Lisbon. Visit the stunning Pena Palace or its park grounds, explore Sintra’s charming medieval streets, and enjoy stunning views at Cabo da Roca, the westernmost point of continental Europe. End your journey with a relaxing stroll and optional lunch in the seaside village of Cascais, all while traveling in a comfortable minivan.
- Let an expert plan the day and navigate the mountain roads
- Explore Sintra’s medieval streets and taste local pastries
- Includes round-trip transfers from your Lisbon accommodation
- Enjoy an intimate exploration with just a small group for company
What's Included
- Pick-up and Drop-off Lisbon - city center hotels
- Select Ticket Option: 1- Not included, 2- Pena Park, 3- Pena Palace interior & Park
- Shared, small group of up to 8 participants, comfortable van (no big buses). WI-FI, AC
- Local Guide: great balance between guided tour and free time to enjoy
- Regaleira option (self-guided) - please inform us before 2:PM - we can book and you pay the guide€21.00 per person
- Food and drinks not included
- Tours can be bilingual (operated in 2 languages)
Meeting and Pickup
Pickup points
Select a pickup point
Pickup details
Pickup in Lisbon city centre, from 7h40 at hotels downtown or 7h50 Uptown - we will confirm time the day before. In case we have no parking access or your hotel is not in the centre, we might ask you to walk 5 min to a nearby meeting-point. If your hotel is not listed, choose the closest from where you are staying, or select one of the meeting points (Praça Luis de Camões 7h40 / Praça Figueira 7h40 / Hard Rock 7h45 / Evolution Saldanha 7h45 / Praça Marquês de Pombal 7h55). Maximum waiting is 5 minutes, for both pickup and after meeting points during the visits, to avoid delaying the tour.
Operating hours.8:00 am
Itinerary
1
National Palace of Pena
1 hour 50 minutes • Admission Ticket Not Included
2
Centro Historico de Sintra
20 minutes • Admission Ticket Free
3
Quinta da Regaleira
1 hour 40 minutes • Admission Ticket Not Included
Sintra National Palace (Pass By)
4
Cabo Da Roca
15 minutes • Admission Ticket Free
5
Centro Historico de Cascais
1 hour 50 minutes • Admission Ticket Free
Estoril (Pass By)
Additional Info
- Confirmation will be received at time of booking
- Not wheelchair accessible
- Stroller accessible
- Near public transportation
- Infant seats available
- No heart problems or other serious medical conditions
- Travelers should have a moderate physical fitness level
- Choose Ticket Option: 1- Not included, 2- Pena Park, 3- Pena Palace interior & Park
- Regaleira is optional - please inform team before 2:PM, so we can book for... EUR 21.00 per person
- Good to skip lines
- Tours can be bilingual (operated in 2 languages)
- We recommend wearing comfortable shoes, as we will walk at some of the sites to visit
- We will have regular comfort stops, but recommend bringing a bottle of water
- Sintra is often rainy / foggy or colder than Lisbon, particularly early morning, so please check forecast
- Tour will go ahead even under rainy conditions, always ensuring everyone's safety
- Not suitable for travellers with limited mobility
- LGBTIQ+ friendly
- This tour/activity will have a maximum of 8 travelers
Supplied by
Cancellation Policy
You can cancel up to 24 hours in advance of the experience for a full refund.
Traveler Photos
Reviews
4.9
based on 1,787 reviews
Lisa_A, Mar 2026
Our driver tour guide was very knowledgeable, personable and so much fun! The stops we made were well worth it, beautiful and historical!
Michelle_K, Mar 2026
Filipe was an exceptionally knowledgeable and engaging tour guide. He made our entire day trip fun, educational and was great at accommodating all ages and people’s wants and needs. Highly recommended! Thanks Filipe!!
Liliana_S, Mar 2026
It was an amazing day! Felipe was also amazing, his service was over and above. So kind, polite and attentive. Thank you Felipe.
Liliana
Patricia_W, Mar 2026
David was an absolutely wonderful guide. Despite traffic and crowds we were able to capture the magic of each site visited. Highly Recommend!
Narayanan_J, Mar 2026
Our guide Pedro was great! Very enthusiastic, and accommodating guide. He’s also very knowledgeable about the history of Lisbon and Portugal. We enjoyed the whole day.
Amy_W, Mar 2026
Our trip to Sintra, Regaleria, and Pena Palace was amazing! The beautiful coastline, gardens and views from top of castle were just magical. Plus our tour guide and driver, Philipe, was so knowledgeable and attentive to our needs, loved his stories along the drive, his depth of knowledge about Pena Castle, both inside and out, plus his recommendations for other areas of Portugal to visit (we will be back). Highly recommend tour with Philipe for a daytrip from Lisbon!!!
Matthew_S, Mar 2026
I found Pedro’s knowledge of the tour stops to be very helpful. Overall, a very enjoyable experience.
Sandra_L, Mar 2026
Book this trip! Filipe was a wealth of knowledge on every place we passed by, stopped at and saw. He had wonderful recommendations for places to eat and what we should try. We truly enjoyed our full day of sightseeing of wonderful locations. Highly recommend!
Brian_K, Mar 2026
We had an amazing day in Sintra and Cascais, and Filipe was a great tour guide. He communicated promptly about pickup timing and locations and was incredibly knowledgable about each of the stops along our trip. You could tell our whole group was enjoying the trip, and Filipe was a big part of that.
The sites were beautiful, and the length of the trip was perfect—not rushed and not too long. It was a perfect day trip.
Albert_C, Mar 2026
Our tour director Filipe, was a wealth of knowledge for this tour. He not only instructed us on the area history but personally explained each room in the Pena palace. I thoroughly enjoyed his commentary and would recommend him for future tours.
Carol_S, Mar 2026
This was one of my best tours; Sintra and the other cities were amazing being filled with history, delicious food, lovely scenery, and super tour guide. Our guide was very knowledgeable, great customer service, excellent recommendations, and a very comfortable ride!!!! This is definitely a tour not to be missed!!!!
Paul_K, Mar 2026
If you don’t mind an all day tour this was an efficient way to see three must see places when you are in Lisbon. From the moment our guide and driver Mauro picked us up at our hotel, we knew we were in for a treat. He was very accommodating and flexible within the framework of the day for the varied tour participants. He was a great storyteller and this skill helped when providing the historical context of the sites visited. Would highly recommend this tour to anyone who is fit enough to walk the hills.
Eric_N, Mar 2026
My wife and I had an amazing time. The views from everywhere we went were spectacular. Easily one of my favorite days of our whole trip. Felipe was also awesome, picked us up at the hotel, had great food recommendations and knew interesting tidbits of all the places we visited.
Melissa_B, Mar 2026
Our guide was very knowledgeable about the history of all the places we were taken to. It was a wonderful experience we will never forget. We would love to go back to some some day.
Patricia_S, Mar 2026
Mouro, our guide was excellent. He showed such pride in his country and it came through in his presentations. He was polite and kind and allowed us to have a wonderful journey, set at our own pace
Dave_S, Mar 2026
Our guide Mauro was fantastic! On the drive to Sintra he amazed us with not only his knowledge of Sintra and the Peña Palace but of Portuguese history as well. As a small group of four Mauro was able to guide us through the Peña Palace avoiding the larger crowds but still provide us with an extensive and informative tour. Even though our tour of Quinta de Regaleira was self guided Mauro provided with useful tips that allowed us to make the most our visit. We really appreciated his suggestion for a lunch stop. The food and atmosphere were excellent. Our trip back to Lisbon with stops at Cape Roca and Cascais was a perfect end to a perfect day.
Robert_C, Mar 2026
David was an exceptional tour guide. He was very knowledgeable, personable, and accommodating. We've used viator dozens of times, and he was a top 5 guide. In addition, the places we went to were very interesting and well worth seeing.
Danielle_D, Mar 2026
We had an amazing all-day experience! Filipe picked us up in his van and drove us to Sintra first, giving us plenty of commentary along the way. After, we went to Sintra village where we explored and grabbed a bite to eat before heading to Cascais, which was truly an incredible town. Filipe was a great guide - very thorough and knowledgeable. Highly recommend for a busy but full day of all the top sites just outside of Lisbon
Bruce_H, Mar 2026
Our tour guide, David, made our day very enjoyable and educational. He provided a great overview of the history of the places we visited as well as local information about the areas we travelled through on our journey to Pena Palace, Regalaria, Sintra and Cascias. At each place we had some time to ourselves to wander, take photos and explore. David gave good tips on local cuisine and places to eat as well.
Missy_L, Mar 2026
This day trip with Filipe exceeded all expectations! Sintra was magical and truly unbelievable, Cabo de Roca was breathtaking and lunch in Cascais was so fun! Filipe is very knowledgable and professional. I highly recommend this easy adventure!
Eirini_P, Mar 2026
Totally recommend it! It was an amazing tour full of colours and nice rides, I would do it again!!!!
Eleen_L, Mar 2026
Filipe was very knowledgeable and professional. Learnt alot about the history of Lisbon and tips on restaurants from him. Highly recommend this tour
Jim_C, Mar 2026
My wife and I thoroughly enjoyed our Sintra tour! Pedro was an excellent host. His recommendations were perfect. Cold and rainy but Pedro made sure we were well cared for!
Response from Host, Mar 2026
Dear Jim,
thank you so much for your kind feedback - you made a difference by being kind , patient and also asking great questions. We are delighted to see that you enjoyed our tour to Pena Palace, Sintra, Roca and Cascais. We
hope to see you again on a future visit. All the best!
sarflo, Mar 2026
Great day out with our friendly guide.. enough time at each stop to enjoy and learn about everything. Highly recommended! Thank you David!
Response from Host, Mar 2026
We are delighted to see that you enjoyed our tour to Pena Palace, Sintra, Roca and Cascais. You were great customers, kind and active! It was a pleasure, and we
hope to see you again on a future visit. All the best!
hannah_L, Mar 2026
supposed to be picked up at 7:40 but actually picked up at 8:20 ( No notice!) we sat at front seat with me my husband and driver. can even put my legs down I am wondering if it is not illegal however guide was very knowledgeable and nice that was only reason I gave 2 stars
Response from Host, Mar 2026
Dear Hannah, we welcome every message and review, as helps us grow, when feedback is truthful and reflects the actual experience - but this is not the case. We are glad to see you liked the guide. Apart from that you are not telling the truth: the day of your tour was a rainy day and we sent you a message alerting you that we had a traffic issue and needed 10 more minutes to meet you (we got to your hotel at 8:10, not 8:20). Regarding the seats As per our product we operate small groups of 8 participants, and you sat in the last 2 seats next to the driver, which is legal and common in European mini vans - also as you saw, we operate nice Mercedes Vans, with ample room for your legs. It is therefore sad you are trying to hurt a decent business that delivers the best service daily.
George_A, Mar 2026
This was an amazing tour, more so due to our tour guide, David who was so knowledgeable. Would highly recommend.
Response from Host, Mar 2026
Dear George,
thank you so much for your kind feedback - you made a difference by being kind , patient and also asking great questions. We are delighted to see that you enjoyed our tour to Pena Palace, Sintra, Roca and Cascais. We
hope to see you again on a future visit. All the best!
Ellen_H, Mar 2026
The day was amazing from start to finish, Filipe our driver and tour guide was a great guide very friendly and knowledgeable about the attractions and places we visited, a great way to fit a lot into one day.
Response from Host, Mar 2026
Dear Ellen,
thank you so much for your kind feedback - you made it great! We are delighted to see that you enjoyed our tour to Pena Palace, Sintra, Roca and Cascais. We
hope to see you again on a future visit. All the best!
Tamara_S, Mar 2026
So this tour was supposed to start at 7:40 but the first passengers to be picked up were not responding so they finally picked us up and then went back for the other 4, personally I think they should have been left behind as this made our morning feel rushed as we had timed entry tickets and had to hurry to get in before our time expired. The driver was very nice and we enjoyed seeing Sintra and Pena Palace, highly recommend adding Regaleira. On our way to Cascais the van broke down but they put us in Ubers to remedy the situation and paid us back and then gave us more time so they could replace the vehicle.
Response from Host, Mar 2026
Dear Tamara,,
Thank you for your feedback - it is very important to us, as it helps us to deliver the best service continuously. We are delighted to see that you enjoyed our tour. We also understand you would have left the other customers behind, but not us: we avoid leaving anyone behind - this is a small group tour of 8 participants, and we want everyone to be safe, comfortable, and happy - we only leave someone behind, when customers have a delay of over 10 minutes or are nonresponsive, which was not the case. Even here we allow customers to meet us at the next stop). As you know the guide kept you informed permanently, and you did not miss a thing—we entered timely with no rush. Regarding the van, we have a fantastic Mercedes fleet, technical problems are uncommon but happen unfortunately - but as you saw, in a few minutes you had another beautiful Mercedes picking you up. All the best
Carrie_L, Mar 2026
Amazing tour. Well worth it and time at each site was perfect. Our guide, David, was personable, knowledgeable and good driver. Great tour guide!
Response from Host, Mar 2026
Dear Carrie,
thank you so much for your kind feedback - you made it great! We are delighted to see that you enjoyed our tour to Pena Palace, Sintra, Roca and Cascais. We
hope to see you again on a future visit. All the best!
Rachel_C, Mar 2026
One of the best trip ever. The weather is nice, Pedro is wonderful and the views are amazing. Highly recommended.
Response from Host, Mar 2026
Dear Rachel,
thank you so much for your kind feedback - you made it great! We are delighted to see that you enjoyed our tour to Pena Palace, Sintra, Roca and Cascais. We
hope to see you again on a future visit. All the best!
From $77.46
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