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: 2026-09-29T08:00:00
End: 2026-09-29T16:00:00
Location: Lisbon

4.8/5(461)

Katherine L

Couple

Verified booking

Last week

We really enjoyed this tour with our tour guide, Ruth. She shared a lot of interesting information that made each site more enjoyable, and her high level of energy kept us going through a long day of walking and sight-seeing. There was some free time given in Sintra, so we could have lunch and sample some local pastries. Bottled water was sold on the bus, which came in handy because it was so hot that day. It was a very well organized and fun tour. Ideal if you aren't in Lisbon very long and want to pack a lot into a day.

Joanna R

Solo

Verified booking

Last week

Rui was an absolute blessing to have as a tour guide during my trip to Lisbon. I ended up feeling quite sick while on the tour and offered me his own water for me to drink. He checked in on me multiple times to make sure I was okay. He was also incredibly knowledgeable and would make several jokes throughout the tour. Rui did an excellent job at translating between English and Spanish, repeating everything almost word for word in either language.

Frazer T

Group

Verified booking

Last week

What an amazing tour , our guide for the trip was Francisco he was brilliant! His knowledge of the places we visited was 10 out of 10 ! He was funny informative and very professional, he explained all the rules for time keeping and our safety. No one was left behind or abandoned !!! We would highly Recommend the tour and recommend you ask for Francisco !!! Had a fantastic day , but wear good walking shoes there is a lot of walking ! Lynn Tweedie

Christine H

Group

Verified booking

Last week

Our tour guide Edwarda was fabulous and went above and beyond to accommodate us. We were able to see a lot with some free time and her recommendations were spot on. I don't know if it was chance, her good timing or both, but we didn't have to wait in long lines at all.

Carolanne M

Couple

Verified booking

3 days ago

Savio was a wonderful tour guide! He was so humorous, insightful, has great history knowledge. A perfect mix of everything on the trip! We thoroughly enjoyed our time and got to see so many beautiful places! I highly recommend his tours!

Franconie C

Couple

Verified booking

2 weeks ago

The French-speaking guide, Tina, was extraordinary. She was very attentive to everyone and gave us plenty of information and details about the castles. The tour lasted 10 hours, starting with Cascais, Cabo da Roca, then Sintra and the 2 castles.

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. Sintra
Free Admission
Enjoy a guided tour of the Historic Center of Sintra and explore its quaint lanes, charming homes, and views of the stunning Pena Palace on top of the Sintra hills.
11 min by a/c bus
4.4 km
2. Quinta da Regaleira
Tickets included (based on selection)
27 min by a/c bus
15.7 km
3. Sintra
Free Admission
1 hr 30 min
Free time to explore & Lunch
29 min by a/c bus
7 km
4. Pena Palace & Park
Tickets included (based on selection)
35 min by a/c bus
25 km
5. Cabo da Roca
Free Admission
30 min
Photo stop & Guided tour
16 min by a/c bus
11.3 km
Passes By
Guincho Beach
Cascais
Estoril
End point
Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
Your ending point would be same as your start point

These tickets can't be cancelled or rescheduled.

461 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.
386
50
15
5
5
Guests from United States, Spain, Canada and over 54 countries have loved this experience
What our guests say
Katherine L
Couple
Verified booking
Last week
We really enjoyed this tour with our tour guide, Ruth. She shared a lot of interesting information that made each site more enjoyable, and her high level of energy kept us going through a long day of walking and sight-seeing. There was some free time given in Sintra, so we could have lunch and sample some local pastries. Bottled water was sold on the bus, which came in handy because it was so hot that day. It was a very well organized and fun tour. Ideal if you aren't in Lisbon very long and want to pack a lot into a day.
Vanessa I
Couple
Verified booking
Aug 2026
We chose the tour to visit Sintra and were absolutely delighted. Our guide, Damiano, who was excellent at explaining things in Italian, accompanied us, gave us lots of recommendations—including on where to eat—and was very punctual for all our stops throughout the day. His explanations made the visit to every site engaging and interesting. A big thank you also to Miguel, the excellent and patient driver. We highly recommend this tour to everyone.
Joanna R
Solo
Verified booking
Last week
Rui was an absolute blessing to have as a tour guide during my trip to Lisbon. I ended up feeling quite sick while on the tour and offered me his own water for me to drink. He checked in on me multiple times to make sure I was okay. He was also incredibly knowledgeable and would make several jokes throughout the tour. Rui did an excellent job at translating between English and Spanish, repeating everything almost word for word in either language.
Frazer T
Group
Verified booking
Last week
What an amazing tour , our guide for the trip was Francisco he was brilliant! His knowledge of the places we visited was 10 out of 10 ! He was funny informative and very professional, he explained all the rules for time keeping and our safety. No one was left behind or abandoned !!! We would highly Recommend the tour and recommend you ask for Francisco !!! Had a fantastic day , but wear good walking shoes there is a lot of walking ! Lynn Tweedie
Sergey K
Couple
Verified booking
Last week
It is a realy nice place to visit, and the tour guide (Pepe) is excellent. Howerever, we've got only one hour for the Pena palace, which is definitely not enough. Considering that the place is very crowded, we were able to take several pictures of the castle, but did not have time to see the gardens. I would strongly recommend to reconsider the scheduling of the tour. It does not smart to spend more time in Cascais, then in Pena.

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.