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: 2026-04-16T08:30:00
End: 2026-04-16T16:30:00
Location: Lisbon

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 41 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

4.7/5

(241)

Aruzhan R

Solo

Verified booking

5 days ago

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

Natalia E

Group

Verified booking

Last week

Despite the weather, we really enjoyed the tour. We had a great time on the bus with Camila and Macarena, and even more so with Macarena, since she was assigned as our guide for our subgroup. There were steep paths and long walks, but everything went very smoothly. She was always attentive to all the participants and kept a close eye on those who were struggling to keep up. Her explanations were super clear and not at all overwhelming. I also want to give a shout-out to Thiago, our bus driver. He drove carefully the whole way and made sure everyone was comfortable by adjusting the bus temperature so we wouldn’t get cold. The timing was perfect for sightseeing, eating, taking photos, and everything else. I recommend it 100%. And even more so on a sunny day!

Rachel S

Couple

Verified booking

2 weeks ago

Perfect day! The palace was stunning and the gardens were beautiful too. Glad we came when we did as no doubt I'll be very busy soon with the warmer weather approaching. Great guides - did also help that the weather was unbelievable. Very knowledgeable guides and very funny too! Super helpful and gave us great food recommendations too. ( Francisco and Ruth )

Rocco C

Couple

Verified booking

Last week

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.

Ivo I

Family

Verified booking

2 days ago

The tour was very well organised and good time duration. We had an amazing time. Our tour guy Tomas Carvalho was very friendly, informative and very nice. He gave us a good recommendations for places to eat and enough time to explore around. Highly recommend. Unforgettable experience.

Jose L

Couple

Verified booking

Last week

Macarena, our guide, was absolutely wonderful. We loved the tour—she made it so enjoyable. She told us some really interesting things. Plus, it’s worth noting that she catered to every single one of the group’s needs. She was so kind to us. We’d definitely do it again.

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
Start point
Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
40 min by a/c bus
30.8 km
1. Pena Palace & Park
Tickets included (based on selection)
10 min by a/c bus
3.4 km
2. Sintra
Free Admission
11 min by a/c bus
4.4 km
3. Quinta da Regaleira
Tickets included (based on selection)
27 min by a/c bus
15.7 km
4. Cabo da Roca
Free Admission
16 min by a/c bus
11.3 km
Passes By
Guincho Beach
5. Cascais
Free Admission
7 min by a/c bus
4.7 km
Passes By
Estoril
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 41 hours before the experience begins and get a full refund.

241 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.
194
25
14
1
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Guests from United States, Italy, Spain and over 47 countries have loved this experience
What our guests say
Rocco C
Couple
Verified booking
Last week
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.
Rima K
Couple
Verified booking
Last week
Really good tour, our guide, Camilla was amazing and straight forward, she made the journey much easier. If I am being brutally honest I wouldn't spend more then 30 euros each for this trip luckily I found a discount for £40 for two!!!
Mary B
Group
Verified booking
Last week
Ruth was a delightful guide, knowledgeable and friendly. We learned a lot about the history of Lisbon and Sinatra while having fun.
Monica A
Group
Verified booking
Last week
The guide was very friendly the whole time; we completed the entire itinerary, and at each destination, he explained everything to us—highly recommended
Aruzhan R
Solo
Verified booking
5 days ago
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

National Palace of Pena

Monday	9:30am - 6:30pm	last entry 6:00pm
Tuesday	9:30am - 6:30pm	last entry 6:00pm
Wednesday	9:30am - 6:30pm	last entry 6:00pm
Thursday	9:30am - 6:30pm	last entry 6:00pm
Friday	9:30am - 6:30pm	last entry 6:00pm
Saturday	9:30am - 6:30pm	last entry 6:00pm
Sunday	9:30am - 6:30pm	last entry 6:00pm

Quinta da Regaleira

Monday	10:00am - 7:30pm	last entry 5:30pm
Tuesday	10:00am - 7:30pm	last entry 5:30pm
Wednesday	10:00am - 7:30pm	last entry 5:30pm
Thursday	10:00am - 7:30pm	last entry 5:30pm
Friday	10:00am - 7:30pm	last entry 5:30pm
Saturday	10:00am - 7:30pm	last entry 5:30pm
Sunday	10:00am - 7:30pm	last entry 5:30pm

Pena Palace Park

Monday	9:00am - 7:00pm	last entry 6:00pm
Tuesday	9:00am - 7:00pm	last entry 6:00pm
Wednesday	9:00am - 7:00pm	last entry 6:00pm
Thursday	9:00am - 7:00pm	last entry 6:00pm
Friday	9:00am - 7:00pm	last entry 6:00pm
Saturday	9:00am - 7:00pm	last entry 6:00pm
Sunday	9:00am - 7:00pm	last 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.