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8 hours
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Discover the beauty and history of Sintra, including the romantic Pena Palace, as well as the stunning coastlines of Cabo da Roca and Cascais on a full-day trip from Lisbon.
Explore Pena Palace, Sintra Historic Center, Cabo da Roca, and Cascais on a guided tour. Experience the romance of Pena Palace, the wild beauty of Cabo da Roca, and the charm of Cascais. Meet at Lanetours Meeting Point, discover Pena Palace, savor Sintra's flavors, marvel at Cabo da Roca's views, and explore Cascais. Reflect on the journey's memories as you return to Lisbon.
Public transportation options are available nearby
Specialized infant seats are available
Suitable for all physical fitness levels
Park and National Palace of Pena
The Pena Palace and Park, in Sintra, make a fantastic day trip from Lisbon. The colorful 19th-century Romanticist castle sits high up on a hill with stunning panoramic views out to the ocean and is a highlight for many visitors to Portugal.
Sintra
Moving forward through the road of Pena towards Penedo, a charming village in the Serra de Sintra (Sintra Mountain), absolutely out of the touristic circuits that will surprise you.Accompanied by the wonderful landscape of the National Park of Sintra-Cascais and the marvelous views of the Castelo dos Mouros (Moorish Castle) and of the Palácio da Pena (Pena Palace), which is always in your field of vision wherever you go
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Visit to the Pena Palace
Air-conditioned vehicle for a comfortable journey
Multilingual expert guide
Personal expenses
Gratuities (optional)
For a full refund, cancel at least 24 hours before the scheduled departure time.
1,563 reviews
Total reviews and rating from Viator & Tripadvisor
Astria C,Jun 22, 2026
- Review from Tripadvisor
Had a great experience visiting the Pena Palace & Sintra. We stopped for food & tried a traditional Portuguese dessert which was excellent & recommended by our guide Marco. It is a lot of walking, especially on steep hills so be prepared. Marco shared history about the places we visited & pointed out architecture, views, symbolism, etc. for us to see that I would’ve have missed on my own. Our driver Oliver got us to our destinations safely driving through narrow winding roads.
H5525UHandrewf,Jun 22, 2026
- Review from Tripadvisor
Marco was an excellent host and was very knowledgeable. He was clear with instructions including setting times to return to the bus to ensure we are not delayed. Our driver was excellent too. He ensured we got to our next point on time and safely.
Z571ABkates,Jun 22, 2026
- Review from Tripadvisor
The experience was great with Nelson. The time in total was a perfect 9. The fee was good. The atmosphere was a bit foggy but that didn’t stop us from having fun. The crowd was a bit full for the afternoon. Our tour guide (Nelson) was great and he called our son up to talk about the history of the places that we went to. This made his day! He gave great history and was simply a kind human!







feniaa2026,Jun 22, 2026
- Review from Tripadvisor
Sintra is worth to visit. Excellent restaurant to eat and drink. Also has many souvenir shops. Peña Palace is far the most beautiful palace in Europe. The view is amazing and by the time we visited had fog and made the whole experience more aesthetic. Cape Roca and Cascais was a pleasant surprise! Our guide Nelson made our tour even more enjoyable and memorable.
GrandTour26260457830,Jun 22, 2026
- Review from Tripadvisor
Nelson was a super guide and knew a lot about Freemason.
357kalpeshk,Jun 20, 2026
- Review from Tripadvisor
Overall, this was a very enjoyable day out and good value for money, particularly given the number of locations covered and the convenience of transportation between them. Sintra, Quinta da Regaleira and Pena Palace were all absolutely stunning and well worth visiting. Our guide, Pedro, was friendly, knowledgeable and professional throughout the day. His enthusiasm really shone through when explaining the history, symbolism and stories behind Quinta da Regaleira, which was undoubtedly one of the highlights of the tour. There are, however, a few areas where the experience could be refined further. The meeting point was quite confusing due to the number of different tour groups gathering in the same location, making it difficult initially to identify the correct group. In addition, the tour catered to both English and Spanish-speaking guests, which understandably meant that explanations had to be delivered twice. This was handled well by Pedro The itinerary was delivered in the reverse order to that advertised, although no explanation was provided. Personally, I think the day may have flowed better ending in Cascais rather than starting there. Arriving later in the day would have allowed visitors to relax with a drink, enjoy the atmosphere and explore a little more, whereas most venues were only just opening when we arrived in the morning. Weather conditions at Cabo da Roca were unfortunately not in our favour. It was cloudy, windy and quite cold, meaning our stop there was brief and we were unable to fully appreciate the significance and beauty of Europe’s westernmost point. Of course, this is beyond anyone’s control, but it did make that part of the itinerary feel somewhat rushed. Future guests should also be aware that this is a long day of around ten hours with a considerable amount of walking, including some steep inclines and cobbled streets. While perfectly manageable for most people, those with mobility concerns may find certain sections challenging. One area where expectations could perhaps be managed more clearly is around meal times. We had skipped breakfast assuming there would be an opportunity later in the morning, but ended up grabbing something quickly in Cascais. Likewise, there was limited time for lunch in Sintra due to the schedule and the need to reach Quinta da Regaleira. While we appreciated the generous free time provided at both Regaleira and Pena Palace, by that stage of the day we were understandably feeling quite tired. Despite these observations, we thoroughly enjoyed the experience. The highlights far outweighed any minor frustrations, and the beauty of Sintra, Quinta da Regaleira and Pena Palace made the tour memorable. With a few small adjustments to logistics and expectation-setting, this could easily become an outstanding day trip.






V3415VLlizm,Jun 20, 2026
- Review from Tripadvisor
Pedro our tour guide and Luis our driver were friendly and respectful at all times. Pedro was knowledgeable and helpful; it is our opinion that he went above and beyond expectations. He managed both English and Spanish groups with grace.
carlmT4845XL,Jun 20, 2026
- Review from Tripadvisor
Pedro was fantastic, took time to answer questions, definitely passionate about his home town and the sites on the tour…Luis the driver didn’t hit one pot hole…great team!
annakO8664MB,Jun 20, 2026
- Review from Tripadvisor
Great tour!Thank you to our guide it was very interesting!
A4598QElb,Jun 19, 2026
- Review from Tripadvisor
The tour was incredible: the views, the history, the energy. Our guide, Pedro, was the best I've ever had, he explained everything so well and made the tour even more special. I had a lot of fun and I recommend it to everyone.
Operated by Lanetours