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: 2026-04-03T08:30:00
End: 2026-04-03T17:30:00
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

(203)

Veronica M

Family

Verified booking

Last week

I took this tour and was truly thrilled by it! Our guide, Antonella, was simply exceptional: extremely knowledgeable, engaging, and able to recount the history of the places we visited in a clear and captivating way. She didn’t just provide information; she immersed us completely in the historical and cultural context, making every stop interesting and memorable. Thanks to her storytelling skills, even the most complex details were easy to understand and never boring. Plus, she was always willing to answer questions and share interesting facts that further enriched the experience. I highly recommend this tour to anyone who wants to discover these places in a thorough and engaging way!

Jacqueline R

Group

Verified booking

2 weeks ago

It was a wonderful day with lots of beautiful sights, but our guide Domingos and our driver Sergio were the best. They were the icing on the cake. Sergio is truly an excellent driver who maneuvered with great skill through the narrow, winding streets, and Domingos knew so much to tell us about the history of the places we visited, as well as the things we encountered along the way. You could tell that history is his passion. A wonderful day in a comfortable bus with amazing sights—definitely worth it.

Adela S

Group

Verified booking

3 weeks ago

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!

Dmytro B

Couple

Verified booking

2 days ago

Our tour was impeccably organized from start to finish. Everything ran like clockwork—perfectly on time and, most importantly, we didn’t waste a single minute in queues. A special shoutout to our guides, Gonçalo and Vinícius. They were absolutely brilliant! Instead of reciting generic facts you can easily find on the internet, they shared unique, captivating stories that truly stuck with us and made Sintra feel special. We are so glad we chose this tour over visiting on our own. Thank you for such a smooth and professional experience!

Matteo T

Couple

Verified booking

5 days ago

We really enjoyed the Italian-language tour with Federico. We visited Cabo da Roca, Sintra, Quinta da Regaleira, and Palácio da Pena. The day was well-organized and ran on schedule. Taking the guided tour was the best way to explore these enchanting places while learning their fascinating stories, which greatly enriched the experience! Highly recommended for a wonderful day trip from Lisbon.

Sara B

Couple

Verified booking

3 weeks ago

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.

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.

203 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.
160
24
11
1
7
Guests from United States, Italy, Canada and over 42 countries have loved this experience
What our guests say
Rachel S
Couple
Verified booking
Yesterday
Perfect day! The palace was stunning and the gardens were beautiful too. Glad we came when we did as no doubt I'll be very busy soon with the warmer weather approaching. Great guides - did also help that the weather was unbelievable. Very knowledgeable guides and very funny too! Super helpful and gave us great food recommendations too. ( Francisco and Ruth )
Miguel R
Group
Verified booking
Yesterday
Perfectly organized for a full day of sightseeing. Damian and María were very friendly and always attentive to the group and our needs. I’ll definitely be back.
Mary B
Group
Verified booking
Yesterday
I loved our tour guide Ruth. She made us feel welcomed and like a friend showing us around Lisbon. I think being in the tour was the best way to experience these landmarks.
Veronica M
Family
Verified booking
Last week
I took this tour and was truly thrilled by it! Our guide, Antonella, was simply exceptional: extremely knowledgeable, engaging, and able to recount the history of the places we visited in a clear and captivating way. She didn’t just provide information; she immersed us completely in the historical and cultural context, making every stop interesting and memorable. Thanks to her storytelling skills, even the most complex details were easy to understand and never boring. Plus, she was always willing to answer questions and share interesting facts that further enriched the experience. I highly recommend this tour to anyone who wants to discover these places in a thorough and engaging way!
Jacqueline R
Group
Verified booking
2 weeks ago
It was a wonderful day with lots of beautiful sights, but our guide Domingos and our driver Sergio were the best. They were the icing on the cake. Sergio is truly an excellent driver who maneuvered with great skill through the narrow, winding streets, and Domingos knew so much to tell us about the history of the places we visited, as well as the things we encountered along the way. You could tell that history is his passion. A wonderful day in a comfortable bus with amazing sights—definitely worth it.

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 - 7:30pm	last entry 5:30pm
Tuesday	10:00am - 7:30pm	last entry 5:30pm
Wednesday	10:00am - 7:30pm	last entry 5:30pm
Thursday	10:00am - 7:30pm	last entry 5:30pm
Friday	10:00am - 7:30pm	last entry 5:30pm
Saturday	10:00am - 7:30pm	last entry 5:30pm
Sunday	10:00am - 7:30pm	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.