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: 2026-07-15T08:00:00
End: 2026-07-15T16:00:00
Location: Lisbon

Duration

8 hrs - 9 hrs 30 mins

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

4.8/5(349)

Dmitriy T

Couple

Verified booking

2 days ago

We absolutely loved our Sintra Full Day Tour from Lisbon. Everything was perfectly organized, but what truly made this day unforgettable was our driver and guide, Mario. He is absolutely incredible! Not only is he a very safe, smooth, and skilled driver, but he is also an exceptionally knowledgeable and engaging tour guide. Mario shared so many fascinating insights, took great care of us throughout the whole day, and created a wonderful, warm atmosphere. Highly recommend this tour to everyone, and a huge thank you to Mario for making our day so special! Five stars! ⭐⭐⭐⭐⭐

Diego M

Couple

Verified booking

3 days ago

The tour was wonderful in every way. Iván, our guide, was attentive, friendly, and very funny. Driving along the coast to Cape Rocas, with his explanations of the landscape, really helped us understand the place we were visiting. The tour of Sintra and the Finca da Regaleira was very well-organized and clearly explained. The same goes for the visit to the Pena Palace. Once again, all of this was made possible thanks to Iván’s expertise—he’s an excellent guide.

Machiko K

Solo

Verified booking

Yesterday

I highly recommend this tour! Our guides, Michael and Cat, did a fantastic job. They were so attentive—especially when they recommended excellent shops in Sintra and made sure to guide us to clean restrooms, which we really appreciated. The destinations were incredible; Sintra and Pena Palace were outstanding, but visiting Cabo da Roca and Boca do Inferno was also a wonderful highlight of our trip.

Queralt M

Family

Verified booking

Last week

Our guide, Savio, was really fun. We were lucky that there were only six of us in the group, so it was a very enjoyable tour. My only recommendation is to book the tour that includes tickets to Quinta da Regaleira and the palace, since it’s definitely worth it; otherwise, you’ll have to wait quite a while while the others go in. Other than that, everything was great—100% recommended.

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)
Step into a fairytale at Pena Palace, where vivid colors crown Sintra’s hills. Go on a guided tour through lush park trails, hidden lakes, and enchanted follies that feel straight out of a dream.
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.

349 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.
291
39
14
2
3
Guests from United States, Italy, Spain and over 51 countries have loved this experience
What our guests say
Dmitriy T
Couple
Verified booking
2 days ago
We absolutely loved our Sintra Full Day Tour from Lisbon. Everything was perfectly organized, but what truly made this day unforgettable was our driver and guide, Mario. He is absolutely incredible! Not only is he a very safe, smooth, and skilled driver, but he is also an exceptionally knowledgeable and engaging tour guide. Mario shared so many fascinating insights, took great care of us throughout the whole day, and created a wonderful, warm atmosphere. Highly recommend this tour to everyone, and a huge thank you to Mario for making our day so special! Five stars! ⭐⭐⭐⭐⭐
Rae D
Couple
Verified booking
Jun 2026
Our guides Katerina and Savio were lovely and personable. Lots of good information. Though I would have loved a printed version with maps and directions. The restaurant recommended in Sintra was perfect- Becco de Villa ?, but tucked away and difficult to find. We booked too late to get Peña palace tickets, so we were left on our own for an hour and a half with no suggestions. A couple of guides from other companies helped us out. Also would have brought a sweater as it was cool, chilly and windy though close to 30C in Lisbon. I would add that tip in your description. Recommend!
Diego M
Couple
Verified booking
3 days ago
The tour was wonderful in every way. Iván, our guide, was attentive, friendly, and very funny. Driving along the coast to Cape Rocas, with his explanations of the landscape, really helped us understand the place we were visiting. The tour of Sintra and the Finca da Regaleira was very well-organized and clearly explained. The same goes for the visit to the Pena Palace. Once again, all of this was made possible thanks to Iván’s expertise—he’s an excellent guide.
Machiko K
Solo
Verified booking
Yesterday
I highly recommend this tour! Our guides, Michael and Cat, did a fantastic job. They were so attentive—especially when they recommended excellent shops in Sintra and made sure to guide us to clean restrooms, which we really appreciated. The destinations were incredible; Sintra and Pena Palace were outstanding, but visiting Cabo da Roca and Boca do Inferno was also a wonderful highlight of our trip.
Laidys H
Couple
Verified booking
2 weeks ago
I had a great time on this day trip! Damian was exceptional, caring, knowledgeable, and made the entire experience enjoyable from start to finish. He shared interesting insights throughout the day and ensured everyone was comfortable. I highly recommend this tour to anyone who wants to make the most of their day exploring the highlights of Sintra. It was an unforgettable experience!

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.