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Day Trips

From Lisbon: Sintra, Pena Palace, Cabo da Roca, Cascais & Quinta de Regaleira Full-Day Trip

Pena Palace in Sintra, Portugal, with colorful towers and lush surroundings.
Traveler hiking towards Cabo da Roca lighthouse with Atlantic Ocean in the background.
Crowded Praia do Ribeiro beach with boats in the bay on a sunny day in Cascais, Portugal.
Beachfront in Cascais with people enjoying the sand and water, colorful buildings in the background.

Duration

8 hr - 9 hr 30 min

Open today

Free cancellation

Free cancellation up to 24 hours before the start of your experience

Book now, pay later

Book now without paying anything. Cancel for free if your plans change.

Guided tour

Transfers available

Pickup available

Meals included

Indulge in a sumptuous meal as a part of your experience

4.5/5

(129)

Sara Cook

Sara

Jan 2026
Verified booking
We had an absolutely fantastic tour of Sintra today. Despite the storm forcing the closure of Pena Palace and Quinta da Regaleira, our guide handled everything seamlessly and found alternate stops that were just as impressive — it truly felt like they went above and beyond to make sure we still had an amazing experience. Communication leading up to and during the tour was clear and easy, which made the day stress-free. Our driver was excellent, and our tour guide was both incredibly knowledgeable and genuinely funny, making the history and sights even more engaging. All around, a wonderful experience and a great example of professionalism and flexibility. Highly recommend!
MARGARET TAYLOR

Margaret

Jan 2026
Verified booking
Sintra, Pena Palace, Cabo deRoca's glorious settings and architecture are why we all go to experience the beauty. That beauty was immeasurably enhanced by tour guide Bruno. He was flawless in his knowledge, could answer every question.... And like Ginger Rogers he did much of the steep hill climb walking backwards the better to be able to address the tour . Good communication, own time to explore at leisure and recommendations for eating . The complete package
Sara Bertuzzi

Sara

Mar 2026
Verified booking
Marta, our guide, was very good and knowledgeable! An excellent tour for those who want to visit Sintra and Cabo da Roca in one day without having to rely on public transport. These places are very far apart, but the tour allowed us to visit them at our leisure. The guides were attentive to the needs of the participants (some of whom were very rude) and the price was absolutely fair.
    • Travel from Lisbon to Sintra, Cabo da Roca, and Cascais in an air-conditioned vehicle with an expert guide for a seamless experience.

    • Explore Sintra’s iconic palaces, lush gardens, and mysterious tunnels with stories brought to life by your guide.

    • Wander the charming streets of Cascais, enjoy free time for seaside strolls, shopping, or sampling local cuisine.

    • Choose your preferred language and upgrade for Pena Palace, Pena Park, and Quinta da Regaleira tickets with guided visits for deeper discovery.

    • Full-day trip to Sintra, Cascais, and Cabo da Roca

    • Round-trip AC transfers from Lisbon

    • Free time in Sintra and Cascais

    • Live commentary from local expert

    • Guided tour of Pena Palace, Pena Park, and Quinta da Regaleira with entry (as per option selected)

    • Expert Portuguese, Spanish, French, German, Italian, and English-speaking guide (as per option selected)

    • Hotel pickup and drop-off

    • Food and drinks

  • TOTAL DURATION8 hours - 9 hours 30 minutes
    MODE OF TRANSFERA/C Bus
    Timeline
    Map
    Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
    Start point

    Rossio Square, Praça dos Restauradores, or Parque Eduardo VII

    40 min by a/c bus
    30.8 km
    Pena Palace & Park

    1. Pena Palace & Park

    Tickets included (based on selection)
    10 min by a/c bus
    3.4 km
    Sintra

    2. Sintra

    Free Admission
    11 min by a/c bus
    4.4 km
    Quinta da Regaleira

    3. Quinta da Regaleira

    Tickets included (based on selection)
    27 min by a/c bus
    15.7 km
    Cabo da Roca

    4. Cabo da Roca

    Free Admission
    16 min by a/c bus
    11.3 km

    Passes By

    Cascais

    5. Cascais

    Free Admission
    7 min by a/c bus
    4.7 km

    Passes By

    Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
    End point

    Rossio Square, Praça dos Restauradores, or Parque Eduardo VII

    Your ending point would be same as your start point

  • You can cancel these tickets up to 24 hours before the experience begins and get a full refund.

  • 129 reviews

    How do we collect reviews?

    These ratings include verified reviews from both Headout guests and our trusted partners who operate this experience locally. All reviews come from real travelers who've taken this experience.

    96
    18
    8
    1
    6
    Guests from United States, Canada, Italy and over 32 countries have loved this experience

    What our guests say

    Sara Bertuzzi

    Sara

    Mar 2026
    Verified booking
    Marta, our guide, was very good and knowledgeable! An excellent tour for those who want to visit Sintra and Cabo da Roca in one day without having to rely on public transport. These places are very far apart, but the tour allowed us to visit them at our leisure. The guides were attentive to the needs of the participants (some of whom were very rude) and the price was absolutely fair.
    Lucia derocchi

    Lucia

    Mar 2026
    Verified booking
    Highly recommended tour. Macarena, our friendly and knowledgeable guide, accompanied us on a journey of discovery into the world of Portuguese royalty and their splendid castles and gardens. The view from Cabo da Roca made everything even more special. Thank you!
    John Esdaile

    John

    Mar 2026
    Verified booking
    Myriam, my guide was superb. Lots of interesting facts at every stop, advice on restaurants which I benefitted from, kept us moving so we covered a huge territory, charming, entertaining. A big hit with me.
    Antonio De Benedictis

    Antonio

    Mar 2026
    Verified booking
    Fantastic experience, our guide Federico was excellent. Knowledgeable, professional, friendly. Recommended tour. Top notch!!!
    Christine Monteiro-Almeida

    Christine

    Mar 2026
    Verified booking
    Bruno was an amazing tour guide. Very informative and passionate about the information he shared with us. Well done!
  • National Palace of Pena

    Monday9:30am - 6:30pmlast entry 6:00pm
    Tuesday9:30am - 6:30pmlast entry 6:00pm
    Wednesday9:30am - 6:30pmlast entry 6:00pm
    Thursday9:30am - 6:30pmlast entry 6:00pm
    Friday9:30am - 6:30pmlast entry 6:00pm
    Saturday9:30am - 6:30pmlast entry 6:00pm
    Sunday9:30am - 6:30pmlast entry 6:00pm

    Quinta da Regaleira

    Monday10:00am - 6:30pmlast entry 5:30pm
    Tuesday10:00am - 6:30pmlast entry 5:30pm
    Wednesday10:00am - 6:30pmlast entry 5:30pm
    Thursday10:00am - 6:30pmlast entry 5:30pm
    Friday10:00am - 6:30pmlast entry 5:30pm
    Saturday10:00am - 6:30pmlast entry 5:30pm
    Sunday10:00am - 6:30pmlast entry 5:30pm

    Pena Palace Park

    Monday9:00am - 7:00pmlast entry 6:00pm
    Tuesday9:00am - 7:00pmlast entry 6:00pm
    Wednesday9:00am - 7:00pmlast entry 6:00pm
    Thursday9:00am - 7:00pmlast entry 6:00pm
    Friday9:00am - 7:00pmlast entry 6:00pm
    Saturday9:00am - 7:00pmlast entry 6:00pm
    Sunday9:00am - 7:00pmlast entry 6:00pm
  • What to bring

    • Wear comfortable walking shoes and weather-appropriate clothing, as the tour involves walking and outdoor activities.

    • A child safety seat must be brought if travelling with a child, as bus providers do not supply baby seats.

    • Pack your sunhat, sunglasses, SPF, and water bottle to beat the heat, especially during summer.

    What’s not allowed

    • Large bags, suitcases, and oversized luggage are not allowed inside the palaces or on the tour bus.

    • Pets are not permitted, except for registered service animals.

    Accessibility

    • This experience is not wheelchair accessible.

    • The tour is stroller and pram accessible.

    • The tour involves a moderate amount of walking and uneven surfaces, which may not be suitable for guests with limited mobility.

    Additional information

    • It is recommended to book with tickets included when possible, as entry cannot be guaranteed for walk-up purchases, particularly for Pena Palace (Interiors) and Quinta da Regaleira.

    • Food and drinks are not included; you will have free time in Cascais for lunch and personal exploration.

    • Tour guides speak only in your selected language and are not bilingual.

    • Unexpected closures of palaces may occur due to adverse weather conditions or local festivals; an alternative route will be offered in such cases.

    • The meeting point details will be emailed to you; make sure to arrive at least 20 minutes before the tour begins. Late arrivals will be considered a no-show and won't be eligible for a refund.

    • Your voucher will be emailed to you instantly.

    • Display the voucher on your mobile phone with a valid photo ID at the meeting point.

    • Please arrive at the meeting point 15 minutes before the scheduled time of your visit to avoid any delays.

    Meeting point

    • Please check your final voucher for the meeting point details and other specific instructions.

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