Nestled just outside Lisbon, the picturesque towns of Sintra and Cascais beckon travelers seeking a taste of Portugal’s enchanting beauty. This guided tour offers a seamless way to explore the region’s iconic landmarks, from the whimsical Pena Palace to the dramatic cliffs of Cabo da Roca. With comfortable transportation and a knowledgeable guide, visitors can enjoy the rich history and stunning landscapes that make this day trip a must-do for those…
Key Points

- A full-day guided tour from Lisbon that visits top attractions in Sintra and Cascais, including Pena Palace with entrance ticket included.
 - Transportation via air-conditioned minibus with a professional guide, with a maximum group size of 19 travelers for an intimate experience.
 - Moderate physical fitness level required, with safety precautions in place, including daily vehicle disinfection.
 - Positive customer feedback highlights the guides’ knowledge and friendliness, while some issues include limited time at specific attractions.
 - Tour prices start from $95.03 per person, with a lowest price guarantee and the option to pay later.
 
Tour Overview

This full-day guided tour from Lisbon takes visitors to the charming town of Sintra and the coastal town of Cascais.
The tour includes visits to top attractions like the Pena Palace, a UNESCO World Heritage site, Cabo da Roca, and quaint villages.
Transportation is provided via an air-conditioned minibus, and a professional guide accompanies the group.
Entrance to the Pena Palace and its gardens is included in the tour price.
With a maximum of 19 travelers, this experience offers an intimate and immersive exploration of these picturesque destinations just outside of Lisbon.
Here are more experiences we've reviewed in Lisbon
Meeting and Logistics

The meeting point for this tour is Alameda Cardeal Cerejeira, 1070-051 Lisboa, Portugal. Check-in is at 8:10 AM, with departure at 8:20 AM. This full-day guided tour has a maximum of 19 travelers and is stroller accessible, but not wheelchair accessible.
| Tour Details | Information | 
|---|---|
| Meeting Point | Alameda Cardeal Cerejeira, 1070-051 Lisboa, Portugal | 
| Check-in Time | 8:10 AM | 
| Departure Time | 8:20 AM | 
| Group Size | Maximum of 19 travelers | 
| Accessibility | Stroller accessible, not wheelchair accessible | 
The tour includes air-conditioned minibus transport and a professional guide, as well as a ticket to Pena Palace and its gardens.
Health and Safety

A moderate physical fitness level is required for this tour, as it may not be suitable for travelers with back problems, heart issues, or pregnant women.
The tour operator takes safety precautions, including daily vehicle disinfection. Visitors are advised to wear a light jacket and comfortable shoes.
In case of high fire risk, the tour may visit alternative destinations like Palácio of Queluz or Quinta da Regaleira instead of the original itinerary.
These measures aim to ensure a safe and enjoyable experience for all participants.
Customer Feedback

With 720 reviews and a rating of 4.6 stars, customers have generally provided positive feedback on this tour.
Specific praise was given for the guides’ knowledge and friendliness, with Miriam and Joao receiving particular mention.
However, some issues were noted, including:
- Long bathroom lines at certain stops.
 - Limited time at specific attractions.
 - Some guides lacking detailed historical information.
 
Pricing and Availability

Tour prices start from $95.03 per person.
This full-day guided tour from Lisbon to Sintra and Cascais offers a lowest price guarantee. Travelers can reserve now and pay later for this experience.
The tour includes air-conditioned transportation, a professional guide, and admission to Pena Palace. With a maximum of 19 travelers, the tour provides a more intimate group experience.
However, it’s not wheelchair accessible, though strollers are allowed. Moderate fitness is required, as the tour may involve some walking.
- Lisbon City Center Tour – The Unmissable Lisbon
 - Lisbon Dolphin Watching With a Marine Biologist in a Small Group
 - Sintra Cape Roca Cascais Estoril Private Tour
 - 3-Hour Lisbon 7 Hills Electric Bike Tour
 - Small Group Tour to Sintra, Pena Palace, Pass by Regaleira, Cabo Roca, Cascais
 - Sintra to Cascais: 2 Palaces, 4 Sites, Small Group 10 Hour Tour
 
Visit to Pena Palace

One of the tour’s highlights is the visit to the stunning Pena Palace, a UNESCO World Heritage Site nestled atop the Sintra Mountains.
This colorful, whimsical palace offers:
- Breathtaking views of the surrounding landscape, including the deep blue Atlantic Ocean.
 - Ornate interior rooms and courtyards showcasing Romanticism and Moorish architectural elements.
 - Beautifully landscaped gardens to explore, with exotic plant species, fountains, and hidden pathways.
 
Visitors will have ample time to wander the palace and its grounds, seeing the rich history and natural beauty of this remarkable destination.
Exploring Cabo Da Roca

After exploring the stunning Pena Palace, the tour continues on to Cabo da Roca, the westernmost point of continental Europe.
The group will witness breathtaking ocean views from the dramatic cliffs. Visitors can take in the fresh coastal air and admire the historic lighthouse at the edge of the continent.
Along the way, the guide will share insights about the natural and cultural significance of this unique geographic location.
With its rugged beauty and connection to Portugal’s seafaring past, Cabo da Roca offers a memorable experience for all who visit.
Coastal Villages of Cascais

From the dramatic cliffs of Cabo da Roca, the tour then winds its way to the picturesque coastal villages of Cascais.
Visitors can stroll through the charming town center, with its quaint streets, colorful buildings, and vibrant cafes.
The tour also includes a stop at the Citadel of Cascais, a 16th-century fortress that offers stunning views of the Atlantic Ocean.
Plus, guests can explore the lively marina, renowned for its upscale shops, restaurants, and yacht-filled harbor.
The coastal villages of Cascais provide a delightful contrast to the grandiose palaces and historic sites of Sintra.
Ask Away
Can We Customize the Tour Itinerary?
Unfortunately, the tour itinerary can’t be customized. It’s a pre-set, full-day guided tour that includes specific attractions. However, travelers can explore the sites at their own pace during the allotted time at each stop.
Will There Be a Lunch Break During the Tour?
The tour does not include lunch, but there will be a break where travelers can purchase food on their own. Lunch and gratuities are not provided as part of the tour package.
Do We Need to Bring Our Own Water and Snacks?
The tour does not include lunch or snacks, so travelers should bring their own water and snacks for the day. The guide can provide recommendations for where to purchase food and drinks during the tour.
Are There Any Discounts Available for Children or Seniors?
The tour offers discounted pricing for children under 16 and seniors over 65, though specific rates are not provided. There’s no mention of discounts for other age groups or group booking discounts.
Can We Make Additional Stops Along the Way?
The tour typically follows a set itinerary, but travelers can check with the operator about the possibility of adding extra stops along the way, depending on the group’s interests and time constraints. Flexibility may be limited during peak season.
Final Words
This intimate tour offers an enchanting experience exploring the stunning landscapes and charming villages of Sintra and Cascais. With comfortable transportation, a knowledgeable guide, and a ticket to the iconic Pena Palace, travelers can enjoy the rich history and breathtaking views, ensuring a safe and enjoyable day trip from Lisbon.
More Full-Day in Lisbon
- From Lisbon: Algarve Full-Day Private Tour with Benagil Cave
 - From Lisbon: Full-Day Tour for Aviation Lovers
 - Lisbon Tour: The Heart of the City From 1h30 to Full Day
 - Full-day private tour to medieval Óbidos and Nazaré village
 - Lisbon Full Day Experience on comfortable minivan
 - Moita: Amazing Full-Day Tour with Horseback Riding on the Beach
 
More Private Tours in Lisbon
- Essential Tour of Old Lisbon in 2H00 : Private Tuk-Tuk Tour
 - Private 4H Tuk Tuk Tour: Alfama, Belém & Lisbon Hidden Gems
 - Wine Tasting – Private Half-Day Tour
 - Private Tour with Custom Itinerary in Lisbon and Belem
 - Lisbon: Private Old Town Tour by Eco TukTuk
 - Lisbon: Private Tour to Algarve, Algar Seco, Benagil & Lagos
 
More Tour Reviews in Lisbon
- Beauty and History: The Heart of Belém
 - Essential Tour of Old Lisbon in 2H00 : Private Tuk-Tuk Tour
 - Lisbon: Algarve, Benagil Caves & Lagos w/ Boat Tour Option
 - Sintra: Pena Palace, Historic Center, and local delicacies.
 - Belém: Follow The Croco Belém Tour – Age Of Discoveries
 - Private 4H Tuk Tuk Tour: Alfama, Belém & Lisbon Hidden Gems
 
Still browsing? Here are more Lisbon experiences we've covered recently
- 14 Best Sailing Experiences In Lisbon (With Prices)
 - 13 Of The Best Workshops & Classes In Lisbon
 - The 9 Best Lunch Experiences In Lisbon
 - 12 Best Wine Tours In Lisbon
 - Top 14 Tours In Lisbon
 - Lisbon’s 4 Top Vegan & Vegetarian Tours
 - Discover 13 Great Walking Tours In Lisbon
 - Lisbon’s 12 Best Drinking Tours
 - What Are The Best Tours & Experiences In Lisbon? Our Top 12 Picks
 - Lisbon’s 14 Best Private Driver Services
 - The 4 Top Dolphin Watching Experiences In Lisbon: Which Is Best?
 - Lisbon’s 14 Top Full-Day Tours (With Prices)
 
