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: 2026-05-16T08:30:00
End: 2026-05-16T08:30:00
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 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

4.6/5(283)

Ira Z

Couple

Verified booking

4 days ago

It was a beautiful excursion around Sintra. Our guides, Marco and Pelo were fun, but also very interesting to follow around the castles & gardens. I recommend them both for their knowledge, their kindness and great sense of humour. An experience I'll remember. "The most important person of the day" who was our bus driver also deserves a very good mention.

Koscielniak W

Couple

Verified booking

4 days ago

It was a lovely day trip; our guide, Maria, spoke French... a very pleasant person with a great sense of humor... We had chosen the full tour package. We stopped at Cabo da Roca, then visited Regaleira, and took a break in Sintra before touring the Pena Palace. We took the bus to Cascais.

Richard A

Couple

Verified booking

Last week

Everything was perfect from start to finish. Bruno, our tour guide was knowledgeable and funny and was truly amazing. There is no way we could have seen everything we did without the tour.

Saul R

Couple

Verified booking

6 days ago

A really nice itinerary with well-managed timing. Our guide, Robinson, made the whole tour very entertaining and provided us with lots of information about each place.

Bozena T

Group

Verified booking

3 weeks ago

…Pena Palace, whose colorful architecture and hilltop location make it look like something straight out of a fairy tale. Walking along its terraces and gardens is a true pleasure, and the views over the surrounding landscape are unforgettable. The whole of Sintra enchants visitors with its romantic charm and mysterious atmosphere. An additional highlight of the trip was our guide, who was incredibly kind, knowledgeable, and engaging. She shared fascinating stories and historical insights about each place we visited, making the experience even more meaningful. Her friendly attitude and enthusiasm created a relaxed and enjoyable atmosphere throughout the entire journey. In summary, a trip that includes Cabo da Roca, Cascais, and Sintra is a perfect blend of nature, culture, and relaxation. Each place offers something unique, making the journey diverse and deeply rewarding. It’s an excellent choice for anyone looking to enjoy breathtaking views and experience the distinctive spirit of Portugal.

Aruzhan R

Solo

Verified booking

Apr 2026

This day trip is one of my highlights of my vacation to Portugal! I was picked up by bus early in the morning, and our first stop to Caba da Roca left me feeling both empty and full. Seeing the end of the world with my own eyes, looking at the endless ocean's waves hitting the rocks made me hypnotized. I would honestly prefer to have more time on this part of the trip, maybe 10 minutes more. That would've been perfect :) And Sintra... It is literally a fairytale city, full of its own legends, traditions and their own pastries. As a guide Maira is incredible. She takes time to explain everything, answer all the questions, and even pull funny jokes in between describing the legend. Overall, thanks to headout I now know a city which I'd love to revisit, and I will definitely come back to see Caba da Roca sometime soon. Everything was very convenient, clear and interesting

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

283 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.
226
28
19
1
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Guests from United States, Italy, Spain and over 47 countries have loved this experience
What our guests say
Richard A
Couple
Verified booking
Last week
Everything was perfect from start to finish. Bruno, our tour guide was knowledgeable and funny and was truly amazing. There is no way we could have seen everything we did without the tour.
Ira Z
Couple
Verified booking
4 days ago
It was a beautiful excursion around Sintra. Our guides, Marco and Pelo were fun, but also very interesting to follow around the castles & gardens. I recommend them both for their knowledge, their kindness and great sense of humour. An experience I'll remember. "The most important person of the day" who was our bus driver also deserves a very good mention.
Koscielniak W
Couple
Verified booking
4 days ago
It was a lovely day trip; our guide, Maria, spoke French... a very pleasant person with a great sense of humor... We had chosen the full tour package. We stopped at Cabo da Roca, then visited Regaleira, and took a break in Sintra before touring the Pena Palace. We took the bus to Cascais.
Saul R
Couple
Verified booking
6 days ago
A really nice itinerary with well-managed timing. Our guide, Robinson, made the whole tour very entertaining and provided us with lots of information about each place.
Didier D
Group
Verified booking
Today
A wonderful day with a great team—Nelson on the mic and Felipe behind the wheel. Well done!

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.