Headout logo. Link to home.
Help
Day Trips

Guided Tour of Pena Palace, Cabo da Roca, Cascais & Estoril from Lisbon

Pena Palace in Lisbon with vibrant architecture and lush surrounding gardens.
Pena Palace dining room and pantry with ornate furnishings in Sintra, Portugal.
Room of the Final Residents in the Pena Palace
Visitors exploring Pena Palace in Sintra, Portugal, with vibrant architecture and scenic views.

Duration

9 hrs

Guided tour

Transfers included

Escape the hustle and bustle of Lisbon and go on a full-day trip to some of Portugal’s most romantic destinations. Visit the beautiful Pena Palace, enjoy a drive past the Cascais and Cabo da Roca, and get fantastic views of the Portuguese countryside along the way!

    • Journey to the top of the Sintra Mountains to see the Pena Palace and admire its multi-colored towers.

    • Tour the palace and learn fascinating insights about Portuguese history from your expert guide.

    • Get some time to explore Sintra’s bohemian streets and take photographs.

    • Enjoy picturesque views of the Atlantic coast and the Portuguese countryside from your comfortable coach.

    • Visit the Cabo da Roca, the westernmost point of Portugal and Europe.

    • Personalise the tour by choosing your preferred language.

    • Pick-up

    • Expert guide

    • Entrance to Pena Palace

    • Food and beverages

    • Gratuities

  • These tickets can't be cancelled or rescheduled.

  • How do we collect reviews?

    4.5
    50 ratings
    5/5
    30
    4/5
    16
    3/5
    2
    2/5
    1
    1/5
    1

    What our guests say

    Alejandro Mateo

    Alejandro

    Nov, 2024Verified booking

    5/5
    Lynda Ritz

    Lynda

    Oct, 2023Verified booking

    4/5
    The tour was well hosted...the crowds and choas at Pena Palace was as expected. The ticket taking on arrival could be better organised and communicated on site. There were a lot of groups all checking in at the same time and it wasn't clear on where to line up for each particular group.
    Hannah Smith

    Hannah

    Oct, 2023Verified booking

    5/5
    This was a great tour and I am very glad I went on it. Definitely wouldn't have been able to go to all the places on this tour without their transportation and guiding. Felt like there was enough time at each place as well. Overall great tour and I highly reccomend. They know what they are doing!
    Patrick D Tadlock

    Patrick

    Jun, 2022Verified booking

    5/5
    We enjoyed the trip up the coast before turning inland to Peña Palacio. Our guide was great as she gave us information about Portugal as we rode along. She had an emergency and turned us over to another guide who met us in Sentra. She was equally as good in providing information and organizing the tour group. We were given just the right amount of time to see Sentra and Pena Palacio, and to do the requisite shopping.
    +39347 650 9720

    +39347

    Apr, 2022Verified booking

    5/5
    Its a perfect trip to cover 3 places - Cascais, CaboDaRoco and Sintra. Thr route mentioned also had Estonil as last stop, however we started reverse route and in the morning the guide didnt stop at Estonil. Atleast they could have made a stop in front of the casino garden to take few pictures. Guide was very nice and did explain about the history, relevance and gave some useful tips for restaurants during lunch. They started on time and ended the day on time.
  • With its fairytale castles, dewy forests and exotic gardens, Sintra is an absolute must-visit when in Portugal. To start off your day trip to this charming old town, meet your guide in central Lisbon and catch the luxury air-conditioned bus. Buckle up and enjoy stunning views of the Portuguese countryside as you make your way towards Pena Palace. Set atop the Sintra Mountains, the palace could pass off as straight out of a fairytale book. The palace was designed by Portugal’s King Fernando II and reflects 19th-century Romanesque Revival architecture. Explore the palace as your expert guide gives you insight into all that you see.

    Take a stroll through the charming streets of Sintra. Once you’ve spent some time here, you will be driving to the westernmost point of Europe, Cabo da Roca. Marvel at the picturebook-like ocean views alongside the lighthouse. Along the way, make a pitstop at Boca do Inferno, otherwise known as Hell's Mouth, a dramatic lookout point known for its crashing seawater. Towards the end of your journey, you drive past Estoril’s sandy beaches, back to central Lisbon.

  • Important Information

    • This tour is not entirely wheelchair accessible.

    • Since there is plenty of walking involved, make sure you wear comfortable clothes and shoes.

    • Carry a warm jacket, as Sintra has a cold climate.

    • Please note that due to Covid-19 constraints the language of the tour will be confirmed on the day of your visit and is subject to availability.

    Route

    • Estoril

    • Cascais

    • Boca do Inferno

    • Cabo da Roca

    • Sintra (Pena Palace)

    • Your voucher will be emailed to you instantly

    • Please display your mobile voucher along with a valid photo ID to your guide

    • If you have purchased reduced-price tickets, please carry your valid photo ID proof for verification. Students must show their valid student IDs

    • Kindly ensure that you arrive 10-15 minutes before the start time of your tour to avoid any delays

    Meeting Point

    • Meet your tour guide at Cityrama Gray Line (Alameda Edgar Cardoso, 1070-051 Lisboa, Portugal)

    • To locate the meeting point on Google Maps, simply search for - Cityrama Gray Line

    Get Directions to the Meeting Point

Similar experiences you'd love

Pena Palace in Lisbon with vibrant architecture and lush surrounding gardens.
Landmarks
Instant confirmation
4.5
Rated 4.5 out of 5.0 from 34950 ratings.
from
€15
Jernimos Monastery Lisbon front facade with detailed Manueline architecture.
Landmarks
Instant confirmation
4.6
Rated 4.6 out of 5.0 from 16457 ratings.
from
€21.05
Moorish Castle tower overlooking lush Sintra landscape, Portugal.
Landmarks
4.0
Rated 4 out of 5.0 from 996 ratings.
from
€12
Free cancellation
Jeronimos Monastery view from Barcelona HOHO bus pass tour.
Hop-on Hop-off Tours Lisbon
Instant confirmation
4.0
Rated 4 out of 5.0 from 312 ratings.
from
€28
Sintra Palace exterior with tourists exploring the courtyard, Sintra, Portugal.
Landmarks
Instant confirmation
4.1
Rated 4.1 out of 5.0 from 365 ratings.
from
€13

Get the Headout app, save up to 80%

Enjoy exclusive deals, offline access to your tickets & live booking updates.
Download iPhone appDownload Android app
iphone

We've served 32 million+ guests and we are here for you

32 million+

Happy customers across 10,000+ experiences

In the media

Featured and recommended by the best brands

24 x 7 help center

Have a question? Live chat with local experts anywhere, anytime