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: 2026-03-17T08:20:00
End: 2026-03-17T16:20:00
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 24 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

4.6/5

(150)

Sara

Jan 2026

Verified booking

We had an absolutely fantastic tour of Sintra today. Despite the storm forcing the closure of Pena Palace and Quinta da Regaleira, our guide handled everything seamlessly and found alternate stops that were just as impressive — it truly felt like they went above and beyond to make sure we still had an amazing experience. Communication leading up to and during the tour was clear and easy, which made the day stress-free. Our driver was excellent, and our tour guide was both incredibly knowledgeable and genuinely funny, making the history and sights even more engaging. All around, a wonderful experience and a great example of professionalism and flexibility. Highly recommend!

Adela

Mar 2026

Verified booking

I thought it was an incredible tour. I went without having many expectations, but the experience was truly amazing. Hugo was our guide, and he was very friendly and kind. In our case, we couldn't buy the tour with tickets to the sites included, but Hugo gave us options and good recommendations on other things to do. The vehicle was clean and quite comfortable. Although the trip was long, with Hugo's guidance and the incredible views of Sintra and Cascais, the time passed very pleasantly. I would do it again and recommend it!

Margaret

Jan 2026

Verified booking

Sintra, Pena Palace, Cabo deRoca's glorious settings and architecture are why we all go to experience the beauty. That beauty was immeasurably enhanced by tour guide Bruno. He was flawless in his knowledge, could answer every question.... And like Ginger Rogers he did much of the steep hill climb walking backwards the better to be able to address the tour . Good communication, own time to explore at leisure and recommendations for eating . The complete package

Sara

Mar 2026

Verified booking

Marta, our guide, was very good and knowledgeable! An excellent tour for those who want to visit Sintra and Cabo da Roca in one day without having to rely on public transport. These places are very far apart, but the tour allowed us to visit them at our leisure. The guides were attentive to the needs of the participants (some of whom were very rude) and the price was absolutely fair.

Natali

Mar 2026

Verified booking

10/10 can recommend! Our guide was Eduarda and she was absolutely amazing! Throughout the whole tour, she gave us information about the history and culture. It was a joy to listen to her. The tour itself was very well scheduled, so we had enough time at each of the stops. The biggest plus was having audio transmitters so you could hear everything Eduarda said at all times.

Jacqueline

Feb 2026

Verified booking

Our guides, Marcus and Nelson (spell?) were absolutely fabulous!! We were so fortunate to have them as our guides. They were genuine in their joy of sharing the local history and went above and beyond to make our limited time here full and enjoyable! Their stories were so informative but also intriguing! I will definitely recommend your tour company in the future!!

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 24 hours before the experience begins and get a full refund.

150 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.
115
20
9
1
5
Guests from United States, Canada, Italy and over 35 countries have loved this experience
What our guests say
Lucia
Mar 2026
Verified booking
Our guide Pedro P. was excellent! He deserves all the stars because otherwise the combo is a sham. He did half of the things included in the tour, and it wasn't because of bad weather because, fortunately, we had good weather all day long. Nor was it because people were late because (again) fortunately, we were all on time. The visit to the Regaleira was okay, but then the walk in Sintra was basically just to eat, and at the Pena Palace, we only saw a few rooms and then headed back because the tour started with us seeing Cascais from the bus! No walks on the beach or in the center. Right after that, we went to Cabo de Roca and then to Sintra for the palace and the Regaleira... So, the guide was wonderful. If you can, take the tour with Pedro in English because he is EXCEPTIONAL, but don't expect too much from this tour. I'm also posting the photos so you can see that only half of what was offered was actually done. I remember that the first stop was Cascais and Sintra was the last.
Adela
Mar 2026
Verified booking
I thought it was an incredible tour. I went without having many expectations, but the experience was truly amazing. Hugo was our guide, and he was very friendly and kind. In our case, we couldn't buy the tour with tickets to the sites included, but Hugo gave us options and good recommendations on other things to do. The vehicle was clean and quite comfortable. Although the trip was long, with Hugo's guidance and the incredible views of Sintra and Cascais, the time passed very pleasantly. I would do it again and recommend it!
Sara
Mar 2026
Verified booking
Marta, our guide, was very good and knowledgeable! An excellent tour for those who want to visit Sintra and Cabo da Roca in one day without having to rely on public transport. These places are very far apart, but the tour allowed us to visit them at our leisure. The guides were attentive to the needs of the participants (some of whom were very rude) and the price was absolutely fair.
Natali
Mar 2026
Verified booking
10/10 can recommend! Our guide was Eduarda and she was absolutely amazing! Throughout the whole tour, she gave us information about the history and culture. It was a joy to listen to her. The tour itself was very well scheduled, so we had enough time at each of the stops. The biggest plus was having audio transmitters so you could hear everything Eduarda said at all times.
Gonçalo
Mar 2026
Verified booking
Mikel and Savio were great guides. Funny and with great knowledge. The ticket when we buy it guves the wrong impression. In "bolt letters" said palacio da pena (which was the objective( but apparently only booked for the park/garden which was not objective). This was a disappointment and should be better clarified by your company at time of purchase

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 - 6:30pm	last entry 5:30pm
Tuesday	10:00am - 6:30pm	last entry 5:30pm
Wednesday	10:00am - 6:30pm	last entry 5:30pm
Thursday	10:00am - 6:30pm	last entry 5:30pm
Friday	10:00am - 6:30pm	last entry 5:30pm
Saturday	10:00am - 6:30pm	last entry 5:30pm
Sunday	10:00am - 6:30pm	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.