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: 2026-11-09T08:00:00
End: 2026-11-09T16:00:00
Location: Lisbon

4.7/5(537)

Agnieszka G

Family

Verified booking

2 days ago

The trip was fantastic; it started in the morning in a very pleasant atmosphere and stayed that way until the end of the day. Two male guides made our entire day wonderful. We couldn't wipe the smiles off our faces. The tour was very well-organized, and everything was explained brilliantly. The gentlemen were radiating positive energy 😁 Unfortunately, I don't remember their names.

Thomas K

Couple

Verified booking

4 days ago

Pedro and Diego were fantastic. They handled multiple people speaking different languages very well. They went out of their way to make sure we got good photos! I wish they gave us more time in Sintra and Pena Palace. Instead, we had two hours for lunch on Cascais where we ran out of things to do.

Deborah J

Couple

Verified booking

3 weeks ago

We arrived at 8am, there was a man reading out everyone's names and telling us where to go, it was really organised. Our lovely guide Valerio met us at the gates and walked us over to our bus. Valerio was incredibly knowledgeable, someone who genuinely enjoyed his job and it radiated throughout the day! Our first stop was Caicas which was incredible we got some amazing pictures. We then headed off to Sintra for Pena Palace which was just beautiful, then back on the bus to head into the centre where we had a lunch shop. Valerio recommended a lovely lunch spot! Then we walked to the next palace which was definitely the highlight of the trip for me. I couldn't recommend enough! It's a must do when visiting Lisbon! I know a lot of people online say you can do this trip independently via train etc and save money...Trust me it is more trouble than it's worth. Pay for the convenience and the knowledge of a tour guide. Our transfers were fully air conditioned and we were very comfortable, that to me is worth more than saving a few euros here and there. So book the full tour, kick back and enjoy it!!!

Chandni E

Couple

Verified booking

Last week

Our tour guide was Maria, who was brilliant. She was extremely knowledgable, funny and took the time to explain the history behind the sites which was great whilst travelling to Sintra. The full tour is highly recommended, going inside the Palace and the tower was a great experience. The tour also included pick up and drop off via a convenient local spot and transport for the whole day which is great because you don't have to worry about making your own arrangements after a full day of walking! Overall a highly enjoyable day and would definitely recommend this tour!

Christian K

Couple

Verified booking

2 weeks ago

The spirited tour guide Pedro alone is an experience. In 4 languages, he explained the procedures and sights to the diverse group with humor, perfection, and complete clarity, gave great insider tips, and steered us past unnecessary lines. His enthusiasm for the sights was contagious and he created a great atmosphere in the group. A real stroke of luck!

Kuebra E

Couple

Verified booking

Last week

Overall, it was super relaxing, informative, and in my opinion focused on the most important things. The process went smoothly. Our guide Mikael was very dedicated and kept an eye on everything. Superb organization with the whole group. No waiting in lines at the entrances needed; no self-organizing required. Thank you very much 😊

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, 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.

537 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, Canada and over 58 countries have loved this experience
What our guests say
Deborah J
Couple
Verified booking
3 weeks ago
We arrived at 8am, there was a man reading out everyone's names and telling us where to go, it was really organised. Our lovely guide Valerio met us at the gates and walked us over to our bus. Valerio was incredibly knowledgeable, someone who genuinely enjoyed his job and it radiated throughout the day! Our first stop was Caicas which was incredible we got some amazing pictures. We then headed off to Sintra for Pena Palace which was just beautiful, then back on the bus to head into the centre where we had a lunch shop. Valerio recommended a lovely lunch spot! Then we walked to the next palace which was definitely the highlight of the trip for me. I couldn't recommend enough! It's a must do when visiting Lisbon! I know a lot of people online say you can do this trip independently via train etc and save money...Trust me it is more trouble than it's worth. Pay for the convenience and the knowledge of a tour guide. Our transfers were fully air conditioned and we were very comfortable, that to me is worth more than saving a few euros here and there. So book the full tour, kick back and enjoy it!!!
Chandni E
Couple
Verified booking
Last week
Our tour guide was Maria, who was brilliant. She was extremely knowledgable, funny and took the time to explain the history behind the sites which was great whilst travelling to Sintra. The full tour is highly recommended, going inside the Palace and the tower was a great experience. The tour also included pick up and drop off via a convenient local spot and transport for the whole day which is great because you don't have to worry about making your own arrangements after a full day of walking! Overall a highly enjoyable day and would definitely recommend this tour!
Antoniya P
Family
Verified booking
Yesterday
This trip was the highlight of our short time in Lisbon and great opportunity to see beyond the city. Sintra is remarkable and the castles are unique. The guide Antonella was super energetic and funny. The one thing i did not enjoy much and so i voted 4 out of 5 was the rush between the locations, perhaps we should not have booked the full package with all entries in order to have more relaxed time for contemplation and fotos. In fact the castles are spectacular from outside only but i was able to take 5-6pics running.
Christian K
Couple
Verified booking
2 weeks ago
The spirited tour guide Pedro alone is an experience. In 4 languages, he explained the procedures and sights to the diverse group with humor, perfection, and complete clarity, gave great insider tips, and steered us past unnecessary lines. His enthusiasm for the sights was contagious and he created a great atmosphere in the group. A real stroke of luck!
Kuebra E
Couple
Verified booking
Last week
Overall, it was super relaxing, informative, and in my opinion focused on the most important things. The process went smoothly. Our guide Mikael was very dedicated and kept an eye on everything. Superb organization with the whole group. No waiting in lines at the entrances needed; no self-organizing required. Thank you very much 😊

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.