Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais
Recommended by 97% of travelers
Lisbon, Portugal
+5
- 8 hours (approx.)
- Pickup offered
- Mobile ticket
- Offered in: English
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Overview
Explore beyond Lisbon city limits—and see several of Portugal’s top attractions in one day—on this seamless, small-group tour. Set off in the morning via air-conditioned vehicle and head to UNESCO-listed Sintra. Skip the long lines and explore the rainbow-hued Pena Palace (tickets additional expense) and pass by the Gothic wonder of Quinta da Regaleira. Then, stop by Cabo da Roca (continental Europe’s westernmost point) and Cascais on your way back to Lisbon.
- This personalized, small-group tour is capped at just eight participants
- See a number of Portugal’s top attractions, all in a single day
- Round-trip transit from Lisbon makes logistics stress-free
- Visit Sintra’s UNESCO-listed palaces, Cabo da Roca, and Cascais
What's Included
- Tours in mini-van for small groups up to 8 people
- Guided Tour at the outside of the monuments
- Pick-up and Drop off in the hotel at the city center
- Air-conditioned vehicle
- Lunch
- Pena Palace Ticket - We will have tickets for you and you can pay to the guide€20.00 per person
Meeting and Pickup
You can head directly to your preferred meeting point, or request pickup.
Start time.8:00 am
Itinerary
Your day begins with departure from your Lisbon hotel or a nearby meeting point and transfer via air-conditioned vehicle to Sintra, where you’ll join your guide to explore the old town and stop for a pastry (own expense) before visiting Pena Palace (admission not included).
Afterwards, pass by Quinta de Regaleira on the way to Capo da Roca, where you’ll make a quick stop to admire the view and snap photos. Finally, take about an hour to sightsee, shop, and dine in the historic center of Cascais before the return transfer to Lisbon and drop-off at your departure point.
Afterwards, pass by Quinta de Regaleira on the way to Capo da Roca, where you’ll make a quick stop to admire the view and snap photos. Finally, take about an hour to sightsee, shop, and dine in the historic center of Cascais before the return transfer to Lisbon and drop-off at your departure point.
1
Centro Historico de Sintra
1 hour • Admission Ticket Free
2
Park and National Palace of Pena
1 hour 30 minutes • Admission Ticket Not Included
Quinta da Regaleira (Pass By)
3
Cabo Da Roca
15 minutes • Admission Ticket Free
4
Centro Historico de Cascais
1 hour • Admission Ticket Free
Additional Info
- Confirmation will be received at time of booking
- Not wheelchair accessible
- Stroller accessible
- Near public transportation
- Infant seats available
- Travelers should have a moderate physical fitness level
- Exceptionally, the tour can be conducted in two languages.
- 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 4,790 reviews
Sort by: Most insightful
Beth_B, Sep 2026
Wonderful day with Jorge(George). He was very concerned about the safety and comfort of his guests for the day. Cabo da Roca was very windy but clear so the view was fantastic. Sintra was a gem. Piriquita was very easy to find and the pastry was delicious. The highlight was Pena Palace. It was an amazing piece of architecture and the surrounding views were just “wow”. Jorge seemed to know everyone. Following we went to Cascais for a lovely lunch. Jorge recommended several lunch spots and after we were able to enjoy the wonderful weather by the beach. It was a great day.
Renee_H, Sep 2026
Very fun, informative and comfortable experience. Magnus made the trip efficient and had tons of knowledge on the area.
Sai_B, Sep 2026
Sara was our tour guide and she was amazing. The tour covered everything that was promised. She was on time and very well organized and helped us avoid crowds
Josephine_K, Sep 2026
Favorite thing we did while visiting Portugal! Get to see everything while having some time to ourselves to explore.
Cynthia_B, Sep 2026
Nice small group tour. Be prepared to walk at Pena Palace. Very steep climb to the palace. The views from the top are breathtaking! Nelson was a great tour guide and driver.Portugese lunch was amazing. Cascais was beautiful area. Surfers were out the day we visited. Would recommend this trip! A great taste of coastal Portugal.
Elizabeth_S, Sep 2026
Definitely book this tour because you get to see a lot in a short time and you don’t stay anywhere for hours and hours! You get Sintra, the castle, the beach then Cascais! Beautiful views along the way as well. Very experienced and non-irritating guides!
Robin_C, Sep 2026
An absolute highlight of our time in Lisbon was our incredible tour with Ricardo. The tour was led by an amazingly warm, fun, and knowledgeable guide, Ricardo. He was acutely attentive to each participant and their needs. There was an issue with the AC on our van and Ricardo worked hard to identify a solution to this issue.
Roxanne_B, Sep 2026
Pedro was great! He was accommodating to our pickup location requirements, he was super knowledgeable and fun. We got great pictures and memories that will last a lifetime. Highly recommended!
Vicki_F, Sep 2026
Great day. Small group is great to travel with this trip. Lovely guide Adelino Jorge gave us a great tour. Right amount of time to see the Pena Palace outside photos of Csbo Roco, and Cascais. I would of liked an option on the tour for a swim in Cascais. Would of topped my day. Thank you for an excellent day. Recommend it.
Mayelin_M, Sep 2026
We had an amazing day exploring Sintra, the beautiful Pena Palace, Cabo da Roca—the westernmost point of continental Europe—and Cascais. Every stop was breathtaking and offered something special.
Ricardo was an outstanding guide! He was friendly, professional, knowledgeable, and shared so much interesting history and information throughout the tour. He made the entire experience fun, comfortable, and memorable.
From the colorful beauty of Pena Palace to the spectacular coastal views at Cabo da Roca and the charm of Cascais, this was truly one of the highlights of our trip to Portugal. We highly recommend this tour, and especially Ricardo as a guide! ⭐️⭐️⭐️⭐️⭐️
Marie_B, Sep 2026
A remarkable tour with an EXCELLENT guide. Pedro is an absolute gem when it comes to sharing the history of each location and all points in between. He is fluent in several languages too! Sintra is beautiful. You have time to stroll, get a coffee or pastel de nata or walk through the narrow streets as you discover beautiful views at every turn. Pena Palace is steep in history and ascent. The walk up to the palace and around the palace is a bit of a challenge, but Pedro paced it very well...like a seasoned maestro of a large symphony. The views at the top is difficult to beat. Pedro gave our group so much insight into the history of the palace. He also functioned as photographer there, offering to take photos of us against palace scenery. It was all appreciated by everyone. Going to Cabo da Roca was amazing. The sheer vastness of the Atlantic and imagining explorers from long ago was easy to do there. A wonderful experience! Our final stop in Cascais allowed for just under 2 hours. Pedro shared a couple of recommendations for lunch (and dessert), of which we obliged. The Sea Bass and potatoes at O Pescador was amazing. We were able to shop a little and get gelato at Santini before he returned us to Lisbon. The journey from Cascais was along the waterfront of the Tagus with many points of interest that Pedro talked about. We all learned so much! Obrigada, Pedro!! Thank you for your time, care and thoughtfulness. Do NOT miss this tour!
Daniela_A, Sep 2026
We had the best time with Tiago. He was really knowledgeable about the sites and super patient with us. We were traveling with a 7 month old baby and he was super attentive. We 100% would recommend him to anyone interested in this tour while visiting Portugal.
Avery_W, Sep 2026
We had such a great tour with Gustavo - he was fun and engaging and provided great recommendations as we explored different parts of Portugal!
Shirley_K, Sep 2026
Excellent tour guide. Our van we travelled in was very disappointing. Most of the air vents were broken and it was a 38degree hot day!
Places on tour were great. Enough amount of free time given.
Brad_M, Sep 2026
Gustavo was a great tour guide. Very knowledgeable and funny. He did not feel the need to talk constantly, but provided great details at the appropriate times.
Frances_N, Sep 2026
Sara was incredible. This was a very hot day and a packed event. She managed it all so well including navigating through traffic to hosting in two languages. Amazing skills. I was stressed from an event the day before and she was so kind and understanding, I was really appreciative of her actions. This was a packed day and it was hot but we saw everything and survived and leaned much about Sintra, Pena Palace, Cabo Roca and Cascais. Overall a great day.
karinne_M, Sep 2026
If you go to Lisbon, book Adolpho! From the magical Pena Palace in Sintra to the cliffs of Cabo da Roca and charming Cascais, every stop was unforgettable. Adolpho is professional, warm, and tells the stories behind every place. Felt more like touring with a friend. Thank you, Adolpho!
FREDRICK_R, Sep 2026
Excellent trip to Sintra with a very good guide, Alexandre made the whole experience enjoyable and entertaining, he had obviously studied about Sintra and was very knowledgeable about its history. The whole day was excellent, made better by the fact it was a small group, and Alexandre took the time to engage with everyone. Lunch at Cascais was very pleasant and there was ample time to stroll around before the drive back to Lisbon.
All in all an excellent day out.
EmelitaRachel_T, Sep 2026
Overall wonderful trip! Beautiful sights of Portugal. Our guide Ricardo was excellent. Highly recommended.
Mary_M, Sep 2026
This is a beautiful, small group tour with Daniel who provided so much history and cultural information. You will enjoy the incredible landscape and lively conversation as you explore castles and the shore! I highly recommend this tour!
Michelle_O, Sep 2026
Excellent experience and I would encourage this tour with this company. Our tour guide was very knowledgeable on the history of the monarchy which made the Palace Tour so much more enjoyable. I was able to do the tour inside the palace and it was a great experience. We were there early so the lines were not long and it moved smoothly during the whole tour.
We were able to spend time shopping around Sintra and enjoy the pastries which was very nice. We also had a great trip to Cabo Roca and Cascais where we were able to have lunch and plenty of time to explore this lovely town. Our tour guide was knowledgeable about each town including which famous people lived there. A very enjoyable tour and the time went so fast.
Michelle_B, Aug 2026
Pedro is exceptional — and so is his tour!! You will not be disappointed and will leave grateful for his knowledge, expertise, and his eagerness to share it with you!! Thank you so very much for a delightful day!
MaryJosephine_T, Aug 2026
Tiago, our guide was very knowledgeable about the places we went to. He is an expert!
He is highly commendable!
Grace_M, Aug 2026
We had Pedro as a guide and he was amazing!! He gave us awesome recommendations when we were able to go off on our own. He was very knowledgeable and passionate about Sintra and was hilarious! We highly recommend this trip with Pedro.
AmandaUK, Aug 2026
Great day out, good choices & well paced. Terrific views, good knowledge & highly professional. Sintra is a joy & Pena Castle worth the short but steep climb!
Tracey_S, Aug 2026
The day went quickly moving from place to place. There are additional costs if 12 euro to visit outside of palace and 4.50euro if you want to take shuttle bus instead of walking uphill.
Happy with the places we chose.
The tour guide was knowledgeable and the tour ran on time.
focus12, Aug 2026
Ricardo was an excellent and very informative guide. So glad he suggested that we just do “the garden tour” at Pena Palace - lines were incredibly long for the tours of rooms inside. Thoroughly enjoyed our lunch break in CaisCais(sp?).
SherrieCummins, Aug 2026
Sintra is a must do if you are visiting Lisbon. This tour was a great day trip to see the palace and the quaint towns.
Sarala_P, Aug 2026
It was a great experience. Tour guide Tiago had a lot of knowledge and kept us welll informed and showed us around in clear concise manner.
Cheryl_K, Aug 2026
We toured with Sara. She was warm, friendly, helpful, very knowledgeable and made the day a great one for us. She took us to places we had previously not heard of, beautiful places and shared many stories. History and made sure that we were all comfortable as well, in spite of some rain. We saw many beautiful sights and learned about Sintra and Cascais and other areas as well thanks to Sara. We would love to tour with Sara again some day!
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