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: 2026-09-20T08:00:00
End: 2026-09-20T16:00:00
Location: Lisbon

4.7/5(442)

Katherine L

Couple

Verified booking

4 days ago

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.

Frazer T

Group

Verified booking

4 days ago

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

Franconie C

Couple

Verified booking

5 days 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.

Bernarda C

Couple

Verified booking

Last week

The whole excursion was very beautiful. The guide, Camila, made sure we spent a very pleasant day and told us many very interesting stories... a very warm and approachable girl... highly recommended.

Colleen U

Couple

Verified booking

5 days ago

Great guide, shout out to Miguel. Long day with lots of uphill walking but went slowly but surely in the heat. Seeing beautiful Sintra was well worth it.

Vanessa I

Couple

Verified booking

3 weeks ago

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.

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

These tickets can't be cancelled or rescheduled.

442 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.
370
47
15
5
5
Guests from United States, Spain, Canada and over 54 countries have loved this experience
What our guests say
Brian P
Couple
Verified booking
Aug 2026
Firstly, I do not regret going on this tour, and most of the locations are must-see for a trip to Lisbon. This was my second trip to Lisbon and Sintra. As we went in August, it was peak tourist season and extremely busy. Additionally, we were unable to get a quick bus back down from Pena, due to the large volume of other visitors. While the listing mentions all private transportation, this was not. We did wait for some time, but of course this was out of the control of the guides. An important note - the listing mentioning "moderate" walking is definitely underselling how much walking you will have to do on this tour. There are lots of hills and lots of steps, so if you do have mobility constraints please keep that in mind. As far as the stop locations, I think Cascais was not really worth it. Unfortunately, you do not get to visit Cabo Da Roca, just see it from the bus. Perhaps that was due to our delay at Pena, but I did find that to be misleading. All that said, Sintra, Pena, and Quinta da Regaleira are absolutely gorgeous, and this is a great way to see the most, if not too much, on your day trip. I had considered driving to these attractions and I am very glad I did not. Finally, our guides Bruno and Myriam were very knowledgable and had great recommendations for exploring during free times. The radio monitors are an excellent touch so that you can actually hear all the interesting historical facts. I do recommend this tour, but hopefully you are not going during peak season like I was!
Katherine L
Couple
Verified booking
4 days ago
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
3 weeks ago
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.
Raquel P
Couple
Verified booking
3 weeks ago
The tour was well organized, even though it was August and there were lots of tourists, and our guide, Ivan, provided interesting and entertaining explanations to our group of Spaniards and to Mirian from the French group. We booked it online a day and a half beforehand, and I went with my gut based on reviews like mine—and it was definitely the right choice. If we’d gone on our own, it would’ve been hard to see everything without waiting in line. Thank you so much, Ivan, for making our day so enjoyable. Greetings from Bilbao!!!!
Vincent P
Couple
Verified booking
Aug 2026
The trip was very nice. There were some hiccups with transportation transfers that had more to do with recent governmental changes: not allowing buses in the Sintra city center. But the guide, Ruth, was exceptional in minimizing the delays. The tours were great and Ruth provided us with the background of each of the places so we could understand and enjoy them more. The driver, Marlon, was amazing too. I don't know how he got through all those small streets

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.