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    Quinta da Regaleira

    Sintra Palace

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    Initiation Well, Sintra

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    Seteais Palace

    Convent of the Capuchos

    Park Liberdade

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    Belem TowerAttraction in Lisbon, Portugal

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    Commerce Square, LisbonAttraction in Lisbon, Portugal

    Cabo da RocaAttraction in Colares, Portugal

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  • Explore Sintra
  • Places to see
  • Things to do
  • Top sights
  • Attraction types
  • Outside Sintra

Pena Palace

Quinta da Regaleira

Sintra Palace

Castle of the Moors

Monserrate Palace

Pena Palace Gardens, Sintra

Sintra Mountains

Initiation Well, Sintra

Sintra Myths & Legends Centre

Seteais Palace

Convent of the Capuchos

Park Liberdade

Day trips

Garden & park tours

Neighborhood tours

National parks

Multi-day trips

Nearby destinations

Lisbon tours

Cascais tours

Estoril tours

Almada tours

Nazaré tours

Obidos tours

Nearby sights

Belem TowerAttraction in Lisbon, Portugal

Tagus River

Commerce Square, LisbonAttraction in Lisbon, Portugal

Cabo da RocaAttraction in Colares, Portugal

Monument to the DiscoveriesAttraction in Lisbon, Portugal

Lisbon CathedralAttraction in Lisbon, Portugal

  • Top experiences
  • Interests
  • Traveler type
  • Outside Sintra

Bus & minivan tours

Tuk tuk & pedicab tours

Hiking

Wine tasting & winery tours

Jeep & 4WD tours

Bike tours

Surfing lessons

Scooters & motorcycles

Climbing experiences

Rail tours

Paragliding

Hop-on Hop-off tours

Explore more things to do in Sintra

Sightseeing

Culture & history

Outdoor activities

Educational activities

Food & drinks

Extreme sports & adrenaline

Explore more things to do in Sintra

Good for groups

For adults

Family-friendly activities

Explore more things to do in Sintra

Things to do in Lisbon

Things to do in Cascais

Things to do in Estoril

Things to do in Almada

Things to do in Nazaré

Things to do in Obidos

Explore more things to do in Sintra

Lisbon: Sintra, Pena Palace, Cabo da Roca, & Cascais Tour

Top rated
4.8864326 out of 5 stars
4.9
4.8864326 out of 5 stars
3619 reviews
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Lisbon: Sintra, Pena Palace, Cabo da Roca, & Cascais Tour
Top rated
4.8864326 out of 5 stars
4.9
4.8864326 out of 5 stars
3619 reviews

Experience the beauty of Sintra in a small group on a full-day guided tour from Lisbon. Admire the breathtaking Pena Palace and Royal Gardens, and enjoy views of Cabo da Roca, Cascais, and coastlines.

About this activity

Free cancellation
Cancel up to 24 hours in advance for a full refund
Reserve now & pay later
Keep your travel plans flexible — book your spot and pay nothing today.
Duration 9 hours
Check availability to see starting times
Live tour guide
English

Highlighted reviews from other travelers

A
Alexandra – United States

We had a fantastic day tour exploring both scenic and historical sites, and it was an unforgettable experience! Everything was well-organized and perfectly paced. What truly made the day special was our amazing tour guide, Lara. She was warm, knowledgeable, and had a great sense of humor. Her stories brought each location to life, and she made sure everyone felt comfortable and engaged throughout the day. Highly recommend this tour — and if you get Lara as your guide, you're in for a real treat!

E
Ewa – Poland

Lara was an amazing guide - she made our day and trip much better with her sense of humor, knowledge, and interesting fun facts. We were able to see beautiful places near to Lisbon and the trip is definitely worth the price. Highly recommend

Select participants and date

Participants

Itinerary

  • Timeline stop icon

    Starting location:

    Av. da Liberdade 24

  • Van

    (45 minutes)

  • Timeline stop icon

    Pena Palace Gardens, Sintra

    Guided tour, Sightseeing (1 hour)

  • Timeline stop icon

    Pena Palace

    Guided tour (1.5 hours)

  • Van

    (10 minutes)

  • Timeline stop icon

    Sintra

    Break time, Visit, Lunch, Free time (1 hour)

  • Van

    (30 minutes)

  • Timeline stop icon

    Cabo da Roca

    Guided tour (20 minutes)

  • Van

    (30 minutes)

  • Timeline stop icon

    Cascais

    Free time (1.5 hours)

  • Van

    (45 minutes)

  • Arrive back at:

    Av. da Liberdade 24

Main stop

For reference only. Itineraries are subject to change.

Highlights

  • Explore the Quiet Corners of Pena Gardens and Discover Breathtaking Nature
  • Explore Famous Pena Palace and Hear the History Come Alive shared by the Guides
  • Get lost in panoramic views of the Cabo da Roca and famous coastline beaches
  • Head down to magnificent Cascais, the destination for European aristocracy
  • Join Lisbon’s Most Trusted Guides on a Journey Through Sintra’s Magic

Full description

> Small groups of up to 8 people. This tour is in English.

> Choose between two options: With Chambers or Without Chambers. If you'd like to explore the interiors of Pena Palace, including its chambers, select the 'With Chambers Included' option.

>If the option is selected "Tour without Tickets" - 10 euros per person will be collected at the pick-up point for the ticket to and only of Gardens and the famous viewpoint terrace of Pena Palace. If you would buy tickets by your own for chambers, please advise us the entry time booked.

> If you made separate bookings and want to be in the same group, let us know the day before.

> Escape Lisbon and go on a full-day, guided journey to some of Portugal’s most popular locations - the iconic Pena Palace in Sintra, the inspiring cliffs of Cabo da Roca, and the glamorous seaside town of Cascais.

> Your journey from Lisbon starts at the famous city of Sintra, whose Romanticist architecture, historic estates and villas, and numerous royal palaces and castles have made it a UNESCO World Heritage site.

> Beginning the tour in the morning will improve the chances of avoiding long lines, and our guide starts the tour through the exotic gardens and finishes the first part on the impressive interiors of the Pena palace. Marvel at the palace’s fairy-tale-like appearance, beautiful facade, and extravagant interior.

> Next, head over to the center of Sintra and get free time to wander on your own. Get recommendations of the city’s must-see locations as well as the best restaurant options for delicious traditional Portuguese,

> Continue to Cabo da Roca, the westernmost point of continental Europe, and take in the impressive views of the ocean crashing against the high rocky cliffs. If weather permits, stop at Guincho Beach, whose strong winds and high swells have made it a popular surfing and kite destination.

> Lastly, arrive in Cascais, an elegant seaside resort town on the Portuguese Riviera. Walk around the lovely city center and make sure to check out Cascais’ luxury marina, its charming fishing port, and a restored fort that houses many local craftsmen.

> After your free exploration time in Cascais, relax back on board our air-conditioned vehicle and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

Includes

  • Transportation by air-conditioned minivan
  • Professional history guide
  • Entry ticket to Pena Palace interior or its gardens and viewpoint terrace (according to option selected)
  • Digital recommendation maps
  • Spotify playlists
  • Insurance
  • Water
  • First aid kit
  • Hotel pickup and drop-off
  • Food

Not suitable for

  • Children under 6 years
  • People with mobility impairments
  • Wheelchair users

Meeting point

Meet at the Avenida Liberdade 24, EPAL Bulding. The van will have "ModernTours" branding.

Open in Google Maps

Important information

What to bring

  • Comfortable shoes
  • Comfortable clothes

Not allowed

  • Pets
  • Baby strollers
  • Luggage or large bags
  • Smoking in the vehicle
  • Non-folding strollers
  • Food in the vehicle
  • Crutches
  • Food and drinks in the vehicle

Know before you go

  • The tour will continue in adverse weather conditions unless there are official warnings advising against traveling,
  • If you choose the option without tickets included, you must pay 10EUR on arrival for tickets to the Gardens and the famous viewpoint terrace of Pena Palace (cash, debit or credit card),
  • If you would like to buy tickets for chambers, please confirm with us before the tour due to tour schedule,
  • If you made separate bookings and want to be in the same group, let us know the day before,
  • This tour involves a considerable amount of walking, and it's recommended to eat breakfast before starting the tour,
  • Please be aware that we cannot accommodate delays, as we must consider the needs of all users and tickets are purchased for a specific time. We recommend allowing extra time for your journey to the pickup point to ensure punctuality.
Save up to 50%

From $77 $39 per person

Reserve now & pay later to book your spot and pay nothing today
Reserve now & pay later to book your spot and pay nothing today

Customer reviews

Overall rating

4.9 /5

based on 3619 reviews

Review summary

  • Guide
    4.9/5
  • Transportation
    4.9/5
  • Value for money
    4.8/5

Customer photos

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A
Alexandra – United StatesJune 14, 2025 – Verified booking
We had a fantastic day tour exploring both scenic and historical sites, and it was an unforgettable experience! Everything was well-organized and perfectly paced. What truly made the day special was our amazing tour guide, Lara. She was warm, knowledgeable, and had a great sense of humor. Her stories brought each location to life, and she made sure everyone felt comfortable and engaged throughout the day. Highly recommend this tour — and if you get Lara as your guide, you're in for a real treat!
E
Ewa – PolandJune 14, 2025 – Verified booking
Lara was an amazing guide - she made our day and trip much better with her sense of humor, knowledge, and interesting fun facts. We were able to see beautiful places near to Lisbon and the trip is definitely worth the price. Highly recommend
T
Terry – United StatesJune 14, 2025 – Verified booking
Raphael was very knowledgeable and personable. l liked the small group. He adjusted the day to see a great view at Pena Palace. Was extremely helpful when walking through the gardens and steps and steep area. Was so kind and helpful.

Product ID: 441296

Activity provider:Modern Tours
  • Portugal
  • Lisbon District
  • Things to do in Sintra
  • Tours in Sintra
  • Pena Palace

Top Attractions in Sintra

  • 1Quinta da Regaleira
  • 2Pena Palace
  • 3Sintra Palace
  • 4Castle of the Moors
  • 5Monserrate Palace
  • 6Initiation Well, Sintra
  • 7Pena Palace Gardens, Sintra
  • 8Sintra Mountains
  • 9Seteais Palace
  • 10Parque Nacional da Pena
  • 11Biester Palace and Park
  • 12Historic Center, Sintra
  • 13Sintra Myths & Legends Centre
  • 14Chalet and Garden of the Countess of Edla
  • 15Lagoa Azul
  • 16Sintra Centre
  • 17Convent of the Capuchos
  • 18Villa Sassetti
  • 19Park Liberdade
  • 20Miradouro da Vigia

Experiences in Sintra

  • 1Sintra Day trips
  • 2Sintra Castle & palace tours
  • 3Sintra Hop-on Hop-off tours
  • 4Sintra Entry tickets
  • 5Sintra Rail tours
  • 6Sintra Tuk tuk & pedicab tours
  • 7Sintra Walking tours
  • 8Sintra Private tours
  • 9Sintra Transfers
  • 10Sintra Bus & minivan tours
  • 11Sintra Jeep & 4WD tours
  • 12Sintra Deals & discounts
  • 13Sintra Bike tours
  • 14Sintra Family-friendly activities
  • 15Sintra Wine tasting & winery tours
  • 16Sintra Food & drinks
  • 17Sintra Garden & park tours
  • 18Sintra Hiking
  • 19Sintra Guided tours
  • 20Sintra Airport transfers

Tours in Portugal

  • 1Lisbon Tours
  • 2Porto Tours
  • 3Albufeira Tours
  • 4Faro Tours
  • 5Lagos, Portugal Tours
  • 6Funchal Tours
  • 7Portimão Tours
  • 8Cascais Tours
  • 9Aveiro Tours
  • 10Coimbra Tours
  • 11Ponta Delgada Tours
  • 12Vilamoura Tours
  • 13Benagil Tours
  • 14Fátima Tours
  • 15Tavira Tours
  • 16Evora Tours
  • 17Braga Tours
  • 18Carvoeiro Tours
  • 19Quarteira Tours
  • 20Alvor Tours

Things to do in Portugal

  • 1Things to do in Lisbon
  • 2Things to do in Porto
  • 3Things to do in Albufeira
  • 4Things to do in Faro
  • 5Things to do in Lagos, Portugal
  • 6Things to do in Funchal
  • 7Things to do in Portimão
  • 8Things to do in Cascais
  • 9Things to do in Aveiro
  • 10Things to do in Coimbra
  • 11Things to do in Ponta Delgada
  • 12Things to do in Vilamoura
  • 13Things to do in Benagil
  • 14Things to do in Fátima
  • 15Things to do in Tavira
  • 16Things to do in Evora
  • 17Things to do in Braga
  • 18Things to do in Carvoeiro
  • 19Things to do in Quarteira
  • 20Things to do in Alvor

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Top attraction categories

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Popular Attractions

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  • Portugal
  • Lisbon District
  • Things to do in Sintra
  • Tours in Sintra
  • Pena Palace
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