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: 2026-07-05T08:00:00
End: 2026-07-05T16:00:00
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 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(338)

Queralt M

Family

Verified booking

Yesterday

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.

Morissette C

Group

Verified booking

Yesterday

Our guide, Lili, was nice, and Luis, the driver, even suggested we take the coastal road instead of the highway. It was a really enjoyable tour. The only disappointment was not being able to visit the Pena Palace. We visited the National Palace instead, which was great!

Laidys H

Couple

Verified booking

5 days 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!

Guidolin C

Group

Verified booking

Jun 2026

The tour was fantastic, with a charming atmosphere; going to Lisbon was well worth it, and including Sintra in the itinerary was the best part. Our guide, Antonella, was fantastic in every way—she was so welcoming, her explanations were very knowledgeable, and her friendliness made everything enjoyable. The tour schedule, including the breaks, was well organized. I highly recommend it to everyone

Samuel P

Couple

Verified booking

3 weeks ago

I highly recommend this tour: the village of Quascais, the village of Sintra, a walk to Pena Palace with Nelson’s wonderful commentary, and Regaleira Palace. With our fantastic bus driver, Claison. The guide, Nelson, speaks perfect French, is passionate about history, and answers all your questions. I highly recommend it ++++

Karina M

Solo

Verified booking

Jun 2026

Not having to worry about the logistics of getting to the places and passing all of the long lines at the sights makes this worth it alone. Do yourself a favor and just do the tour and avoid the headache. The guides and the experience was seamless though. Well done.

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.

338 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.
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Guests from United States, Spain, Italy and over 50 countries have loved this experience
What our guests say
Rae D
Couple
Verified booking
2 weeks ago
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!
Ines C
Solo
Verified booking
3 weeks ago
Nelson, our guide, is. A professional very knowledgeable guide. Very talented. Interacted with everyone with ease. Made us feel welcomed. The driver Clayson, was excellent, the ride was very smooth through narrow streets, and I don't even road. I did not feel unsafe ever. We were never rushed, they made to feel that the slower people in the tour were an inconvenience, as it is done other tours. Everything happened on time. Aunt, we were well informed and prepared our all our stops. I highly recommend the company and these guides. I highly recommend a tour.
Laidys H
Couple
Verified booking
5 days 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!
Guidolin C
Group
Verified booking
Jun 2026
The tour was fantastic, with a charming atmosphere; going to Lisbon was well worth it, and including Sintra in the itinerary was the best part. Our guide, Antonella, was fantastic in every way—she was so welcoming, her explanations were very knowledgeable, and her friendliness made everything enjoyable. The tour schedule, including the breaks, was well organized. I highly recommend it to everyone
Saeed S
Group
Verified booking
5 days ago
The tour was well organized, and everything ran on time. The guides were friendly and knowledgeable. The only difference from the itinerary was the order of the visits: we went to Sintra first, then Quinta da Regaleira, followed by free time for lunch, then Pena Palace, and finally Cabo da Roca. Overall, it was a good experience, and I would recommend this tour.

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.