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.

4.6/5

262+ travellers from around the world love this

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.

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

Free cancellation

Book now, pay later

8 hr

3 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 €70.20

€63.18

10% off

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.

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

Free cancellation

Book now, pay later

8 hr

3 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 €24.20

€13.31

45% off

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What our guests say

Aruzhan R

Poland

Solo

Last week

+6 more

This day trip is one of my highlights of my vacation to Portugal! I was picked up by bus early in the morning, and our first stop to Caba da Roca left me feeling both empty and full. Seeing the end of the world with my own eyes, looking at the endless ocean's waves hitting the rocks made me hypnotized. I would honestly prefer to have more time on this part of the trip, maybe 10 minutes more. That would've been perfect :) And Sintra... It is literally a fairytale city, full of its own legends, traditions and their own pastries. As a guide Maira is incredible. She takes time to explain everything, answer all the questions, and even pull funny jokes in between describing the legend. Overall, thanks to headout I now know a city which I'd love to revisit, and I will definitely come back to see Caba da Roca sometime soon. Everything was very convenient, clear and interesting

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

Rocco C

United States

Couple

2 weeks ago

This was my first time doing a guided tour trip, the guides were very kind and great story tellers. The whole trip was clear and well organised, I was surprised how comfortable I was during the whole trip. By the end of the day I wanted to book an other tour. Would definitely recommend to anyone.

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

Mary B

United States

Group

2 weeks ago

Ruth was a delightful guide, knowledgeable and friendly. We learned a lot about the history of Lisbon and Sinatra while having fun.

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

Dmytro B

Ukraine

Couple

3 weeks ago

Our tour was impeccably organized from start to finish. Everything ran like clockwork—perfectly on time and, most importantly, we didn’t waste a single minute in queues. A special shoutout to our guides, Gonçalo and Vinícius. They were absolutely brilliant! Instead of reciting generic facts you can easily find on the internet, they shared unique, captivating stories that truly stuck with us and made Sintra feel special. We are so glad we chose this tour over visiting on our own. Thank you for such a smooth and professional experience!

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

Matteo T

Italy

Couple

3 weeks ago

+2 more

We really enjoyed the Italian-language tour with Federico. We visited Cabo da Roca, Sintra, Quinta da Regaleira, and Palácio da Pena. The day was well-organized and ran on schedule. Taking the guided tour was the best way to explore these enchanting places while learning their fascinating stories, which greatly enriched the experience! Highly recommended for a wonderful day trip from Lisbon.

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

Bilel T

Greece

Couple

Mar 2026

The trip was amazing except the crowds in Pena Palace which could be avoided if we went early in the morning before Sintra. Our guides Francisco and Mathilda were amzing, funny and friedly 🥰

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

Veronica M

Family

Mar 2026

+2 more

I took this tour and was truly thrilled by it! Our guide, Antonella, was simply exceptional: extremely knowledgeable, engaging, and able to recount the history of the places we visited in a clear and captivating way. She didn’t just provide information; she immersed us completely in the historical and cultural context, making every stop interesting and memorable. Thanks to her storytelling skills, even the most complex details were easy to understand and never boring. Plus, she was always willing to answer questions and share interesting facts that further enriched the experience. I highly recommend this tour to anyone who wants to discover these places in a thorough and engaging way!

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

Marklea B

Italy

Couple

Mar 2026

The tour was very well organized, and our guide Damian’s commentary was very engaging. The places we visited are definitely worth seeing. I highly recommend this experience, especially given the price.

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