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: 2026-09-22T08:00:00
End: 2026-09-22T16:00:00
Location: Lisbon

4.7/5(446)

Katherine L

Couple

Verified booking

6 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

6 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

Christine H

Group

Verified booking

2 days ago

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.

Franconie C

Couple

Verified booking

Last week

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.

Jorge V

Couple

Verified booking

Yesterday

Everything was excellent. The bus was very comfortable. We departed on time. The driver was very safe. Interesting sites and the right amount of time at each. Pepe was very friendly, fun, helpful, approachable, and empathetic with everyone. We are very satisfied with the service.

Juan B

Family

Verified booking

3 days ago

From this excursion, I would highlight the great service, friendliness, and professionalism of our guide, Pepe. Overall, the excursion was very good. The worst part was the massive crowd at Pena Palace. Cabo da Roca was spectacular.

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.

446 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.
373
47
15
5
6
Guests from United States, Spain, Canada and over 54 countries have loved this experience
What our guests say
Katherine L
Couple
Verified booking
6 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!!!!
Frazer T
Group
Verified booking
6 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
Sergey K
Couple
Verified booking
3 days ago
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.