Lisbon to Cabo da Roca

Lisbon to Cabo da Roca day trips take you from the energetic capital of Portugal to the westernmost point of continental Europe. Seamless round-trip transfers add the icing on the cake, making for a stress-free experience.

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Pena Palace in Sintra with colorful towers and a winding path lined with greenery.

Pena Palace in Sintra with tourists exploring the colorful architecture.

Tour group observing artwork during Pena Palace guided tour.

Cape Roca lighthouse on cliff edge overlooking ocean, Cabo da Roca, Portugal.

Cascais street with ocean view, palm trees, and fishing nets along the beach.

Sintra town square with colorful buildings and Moorish Castle on the hill.

Visitors exploring the colorful architecture of the National Palace of Pena in Sintra, Portugal.

Pond and small tower in the gardens of Pena Palace, Sintra, Portugal.

Tourists walking along the path near the lighthouse at Cabo da Roca, Portugal.

Beachgoers relaxing on Praia da Rainha in Cascais, Portugal, with boats in the distance.

Day Trips

Free cancellation

Book now, pay later

8 hr

2 more

A comprehensive tour of Sintra’s historic center and the Pena Palace within it, ideal for anyone looking to dive into their rich history.
Travel in comfort with round-trip transport, guided visits, and scenic photo stops across the tour.
Discover Sintra’s UNESCO-listed palaces, dramatic cliffs at Cabo da Roca, and the vibrant seaside charm of Cascais.
Enjoy free time to explore local shops, sample regional cuisine, or simply soak up the atmosphere in Guincho Beach.
Make the most of your visit! Upgrade for Pena Park access or get complete entry to both the palace interiors and scenic park trails.

More details

A comprehensive tour of Sintra’s historic center and the Pena Palace within it, ideal for anyone looking to dive into their rich history.
Travel in comfort with round-trip transport, guided visits, and scenic photo stops across the tour.
Discover Sintra’s UNESCO-listed palaces, dramatic cliffs at Cabo da Roca, and the vibrant seaside charm of Cascais.
Enjoy free time to explore local shops, sample regional cuisine, or simply soak up the atmosphere in Guincho Beach.
Make the most of your visit! Upgrade for Pena Park access or get complete entry to both the palace interiors and scenic park trails.

from

€66

Quinta da Regaleira palace with ornate facade and lush gardens in Sintra, Portugal.

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.

Pena Palace's colorful towers and intricate architecture in Sintra, Lisbon, Portugal.

Tour group exploring the spiral staircase of the Initiation Well at Quinta da Regaleira, Sintra, Portugal.

Quinta da Regaleira garden with tourists exploring lush greenery and ornate stone structure.

Tourists walking along a path with Atlantic Ocean view at Cabo de Roca, Portugal.

Cascais main square with statue, historic buildings, and people walking.

Pena Palace in Sintra, Portugal with colorful architecture and scenic views.

Day Trips

Free cancellation

Book now, pay later

8 hr

2 more

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.

More details

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.

from

€30

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Millions love heading out with us

Tobias

France

Jan 2026

‌

It was a wonderful tour with Antonio. Everything was explained perfectly and we saw lots of great places without any stress. Absolutely perfect.

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

Juana

Spain

Dec 2025

‌

+2 more

It was a spectacular experience. I was very fortunate, my first tour, to have the best guide you could ask for. I would also like to thank your fellow guide, who although the contact was minimal, was very nice. I'm talking about Ivan and Francisco. Jajjaja although my guide was the best, of course. Not only was he very well organized, but you could tell he loved his job. He told you the story with enthusiasm and touches of humor and listening to what we were seeing at our pace, it was like being inside a movie. SPECTACULAR! THANK YOU FOR THIS WONDERFUL DAY

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

Milica

Serbia

Nov 2025

‌

Organization was great! Easy to find meeting point, everything was on time, clear instructions and communication! Our guide Victoria was very polite, warm, knowledgeable and helpful. All destinations on the list were shown, as said in trip description, so full recomendation for booking this experience! 🙏

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

Sara

Italy

Oct 2025

‌

The guide (Macarena) was very good. Right proportion between free and guided time. Too bad we didn't stop in Cascais, which was only seen from the bus.

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