Day Trips

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

Name: From Lisbon: Sintra, Pena Palace, Cabo da Roca, Cascais & Quinta de Regaleira Full-Day Trip
Start: 2026-10-17T08:00:00
End: 2026-10-17T17:30:00
Location: Lisbon

4.8/5(492)

Deborah J

Couple

Verified booking

2 days ago

We arrived at 8am, there was a man reading out everyone's names and telling us where to go, it was really organised. Our lovely guide Valerio met us at the gates and walked us over to our bus. Valerio was incredibly knowledgeable, someone who genuinely enjoyed his job and it radiated throughout the day! Our first stop was Caicas which was incredible we got some amazing pictures. We then headed off to Sintra for Pena Palace which was just beautiful, then back on the bus to head into the centre where we had a lunch shop. Valerio recommended a lovely lunch spot! Then we walked to the next palace which was definitely the highlight of the trip for me. I couldn't recommend enough! It's a must do when visiting Lisbon! I know a lot of people online say you can do this trip independently via train etc and save money...Trust me it is more trouble than it's worth. Pay for the convenience and the knowledge of a tour guide. Our transfers were fully air conditioned and we were very comfortable, that to me is worth more than saving a few euros here and there. So book the full tour, kick back and enjoy it!!!

Cristina F

Solo

Verified booking

Last week

Hello, Pedro was an excellent guide and made a great effort to explain everything in English and Spanish; he was very respectful and attentive to everyone's expectations. Michel, the driver, was also very professional. This is a very complete and deeply enriching tour in terms of history, nature, and plenty of architecture. Grateful, happy, and satisfied. Congratulations!!!

Lourdes R

Group

Verified booking

Last week

Incredible tour with Savio! He showed us everything in such an engaging, entertaining way, explaining it all without ever getting boring. Super friendly, attentive, and you can really tell he loves what he does. Highly recommended, one of the best guides we've had in Portugal. Thank you, Savio!

Amanda E

Couple

Verified booking

6 days ago

The tour was great! Lots to see and Emilio was a really fun, energetic and knowledgeable guide. He kept us on track, was friendly and funny. He made us feel cared for the whole day. All the sights were impressive to see and the day was overall was packed.

Graciela C

Solo

Verified booking

Last week

Everything was very smooth and well-paced. The transportation, transfers, and visits all went without delays. Special mention to our tour guide, Macarena, who was constantly giving directions and whose knowledge was excellent.

Anton H

Couple

Verified booking

2 days ago

We enjoyed the excursion. The best part, however, was our tour operator Myriam. Three thumbs up for the great tour and the big surprises. You just have to experience it.

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, 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
Start point
Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
40 min by a/c bus
30.8 km
1. Sintra
Free Admission
Enjoy a guided tour of the Historic Center of Sintra and explore its quaint lanes, charming homes, and views of the stunning Pena Palace on top of the Sintra hills.
11 min by a/c bus
4.4 km
2. Quinta da Regaleira
Tickets included (based on selection)
27 min by a/c bus
15.7 km
3. Sintra
Free Admission
1 hr 30 min
Free time to explore & Lunch
29 min by a/c bus
7 km
4. Pena Palace & Park
Tickets included (based on selection)
35 min by a/c bus
25 km
5. Cabo da Roca
Free Admission
30 min
Photo stop & Guided tour
16 min by a/c bus
11.3 km
Passes By
Guincho Beach
Cascais
Estoril
End point
Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
Your ending point would be same as your start point

These tickets can't be cancelled or rescheduled.

492 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.
413
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5
Guests from United States, Spain, Canada and over 58 countries have loved this experience
What our guests say
Katherine L
Couple
Verified booking
Sep 2026
We really enjoyed this tour with our tour guide, Ruth. She shared a lot of interesting information that made each site more enjoyable, and her high level of energy kept us going through a long day of walking and sight-seeing. There was some free time given in Sintra, so we could have lunch and sample some local pastries. Bottled water was sold on the bus, which came in handy because it was so hot that day. It was a very well organized and fun tour. Ideal if you aren't in Lisbon very long and want to pack a lot into a day.
Carolanne M
Couple
Verified booking
2 weeks ago
Savio was a wonderful tour guide! He was so humorous, insightful, has great history knowledge. A perfect mix of everything on the trip! We thoroughly enjoyed our time and got to see so many beautiful places! I highly recommend his tours!
Geraldine O
Couple
Verified booking
3 weeks ago
Bruno was very pleasant and very knowledgeable of the history of Portugal. He kept the tour running on time. I would definitely recommend him.
Deborah J
Couple
Verified booking
2 days ago
We arrived at 8am, there was a man reading out everyone's names and telling us where to go, it was really organised. Our lovely guide Valerio met us at the gates and walked us over to our bus. Valerio was incredibly knowledgeable, someone who genuinely enjoyed his job and it radiated throughout the day! Our first stop was Caicas which was incredible we got some amazing pictures. We then headed off to Sintra for Pena Palace which was just beautiful, then back on the bus to head into the centre where we had a lunch shop. Valerio recommended a lovely lunch spot! Then we walked to the next palace which was definitely the highlight of the trip for me. I couldn't recommend enough! It's a must do when visiting Lisbon! I know a lot of people online say you can do this trip independently via train etc and save money...Trust me it is more trouble than it's worth. Pay for the convenience and the knowledge of a tour guide. Our transfers were fully air conditioned and we were very comfortable, that to me is worth more than saving a few euros here and there. So book the full tour, kick back and enjoy it!!!
Joanna R
Solo
Verified booking
3 weeks ago
Rui was an absolute blessing to have as a tour guide during my trip to Lisbon. I ended up feeling quite sick while on the tour and offered me his own water for me to drink. He checked in on me multiple times to make sure I was okay. He was also incredibly knowledgeable and would make several jokes throughout the tour. Rui did an excellent job at translating between English and Spanish, repeating everything almost word for word in either language.

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.