Estoril Activities

Our most recommended Estoril Activities

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

1. Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

Escape Lisbon and go on a full-day, guided journey to some of Portugal’s most popular locations stopping at the iconic Pena Palace in Sintra, the awe-inspiring cliffs of Cabo da Roca, and the ritzy seaside town of Cascais. Choose between the shared tour or private tour options. 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. Enjoy the freedom of choice on whether you want an included entry ticket and tour of the colorful Pena Palace, or whether you prefer to gain some extra free time instead. Arriving early at Sintra means greater chances of avoiding long lines if you choose to go with your guide on a comprehensive tour through its lavish interiors and lush gardens. Marvel at the palace’s fairy-tale-like appearance, beautiful facade and extravagant interior. Next, head over to the center of Sintra and get 1.5-hour of 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 dining from your guide. 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 permitting, stop at Guincho beach, whose strong winds and high swells have made it a popular surfing destination. Lastly, arrive in Cascais, an elegant seaside resort town on the Portuguese Riviera. Stroll through 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 your air-conditioned vehicle, and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

2. From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

Discover Sintra, so-called the “Garden of Eden” by Lord Byron. Tour its paradisiacal streets and gardens and admire the ornate palaces, villas, and estates throughout this colorful city. See Pena National Palace, famed for its romantic architecture and recognized as a UNESCO world heritage site. Located approximately 500 meters above sea level, soak up the stunning city views over Sintra. Continue to Sintra's Quinta da Regaleira and take a guided tour of the palace, lush gardens, lakes, grottoes, and enigmatic constructions. Learn about its connection with the Freemasons and the Knights Templar. Head to Cabo da Roca, the most western point of mainland Europe, passing Guincho Beach. Experience the Portuguese Rivera as you drive along the Estoril Coast and visit the village of Cascais. See why many exiled European royalty choose to live there.

From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

3. From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

Escape noisy Lisbon on a visit to nearby sites of natural and architectural beauty. See Sintra's historic center, Pena, Cascais, and more on this day excursion. On this full-day tour, start off with a walk-in Pena Park. Feel like royalty in Pena Palace while your guide explains its history. Marvel at the views of the surrounding landscape and the Atlantic Ocean. Next visit Sintra's historical center. Enjoy lunch or visit the National Palace. Continue on with a drive through the Sintra Mountains. Stop at the great cliffs at Roca Cape, which are the westernmost point of continental Europe. The last stop of the tour is the stylish town of Cascais, where you can take a relaxing walk along the bay before heading back to Lisbon.

From Lisbon: Sintra, Cabo da Roca, and Cascais Full-Day Tour

4. From Lisbon: Sintra, Cabo da Roca, and Cascais Full-Day Tour

Embark on a full-day trip to Sintra, Cabo da Roca, and Cascais from Lisbon, choosing between a private or a shared guided tour. Soak up the dramatic views at Cabo da Roca, the westernmost point of Continental Europe, and lose yourself in the narrow streets of Sintra. After pickup from your hotel, make your way to Sintra and discover the medieval streets, castles, and palaces of this world heritage site. Learn about the colorful architecture and surrounding forest. Continue towards the Atlantic Ocean to discover Cabo da Roca, the westernmost point of Europe. Drive along the sea and admire Guincho Beach's enormous sand bed, which hosts many international surfing events due to its gigantic waves. Pass through Cascais and Estoril, both famous for their cosmopolitan environment, and finally visit Estoril’s world-renowned casino and beautiful gardens. Return to Lisbon by driving along the Estoril Coast, admiring the breathtaking sight of white-sanded beaches along the way.

Lisbon: 3-Hour Dolphin Watching Boat Tour

5. Lisbon: 3-Hour Dolphin Watching Boat Tour

Admire wild dolphins in their natural habitat on a 3-hour journey around Lisbon's coast aboard a speedboat with a marine biologist and a captain. Relax and enjoy stunning views of Lisbon's main monuments, the Estoril Coast, and Cascais from the Tagus River, all while keeping an eye out for playful dolphins. Admire the magnificent views while learning about these incredible marine mammals, and how teams in Portugal are preserving their natural habitat. Feel free to ask your marine biologist any questions about dolphins and marine life throughout the journey.

From Lisbon: Sintra, Cabo da Roca, Cascais, & Estoril Tour

6. From Lisbon: Sintra, Cabo da Roca, Cascais, & Estoril Tour

Enjoy a day trip from Lisbon to Sintra, Cabo da Roca, Cascais, and Estoril. Stop at Pena Palace in the Sintra Mountains and at the palace of Quinta da Regaleira. See the first casino in Portugal in Estoril. Be picked up from the comfort of your accommodation in Lisbon. Relax on the drive to Pena Palace in the Sintra Mountains. Spend some time admiring the vivid colors and 19th-century Romantic architecture of this national treasure. Head to the UNESCO World Heritage-listed historical center of Sintra. Walk through the narrow cobble stone streets and see the charming shops and restaurants. Take a stroll through the Quinta da Regaleira palace park which features lakes, grottoes, wells, fountains, secret passages, mystical symbolism, and a freemason initiation well. Next, travel to Cabo da Roca to see the dramatic coastline a the westernmost point in continental Europe. Continue to the seaside resort town of Cascais. Explore the romantic old buildings in this area which was once a popular summer destination for royals. Finish the tour by passing through the Portuguese Riviera town of Estoril. View the local casino which was thought to be a gathering place for spies in WWII. This inspired the James Bond novel 'Casino Royale.'

From Lisbon: Sintra Full-Day Trip

7. From Lisbon: Sintra Full-Day Trip

Get out of the city and explore fairytale Sintra with a guide on this full-day tour. See the romantic Pena Palace, the last residence of the Portuguese royal family and one of 7 wonders of Portugal. See the westernmost point of continental Europe, Cabo da Roca. Explore the Portuguese Riviera, including Cascais, and Estoril.  Meet your guide by the reception of your Lisbon hotel, and enjoy the relaxed ride through the suburbs of Lisbon aboard an airconditioned van. Arrive in Sintra and begin your tour in the picturesque park, which forms the heart of the UNESCO-listed town.  Explore the Pena Palace.  Admire panoramic views of Lisbon and the Atlantic Ocean from the palace.  Visit the westernmost point of continental Europe at Cabo da Roca. Watch the waves of the Atlantic crash into the cliffs before returning to Lisbon through the vibrant coastal towns of Cascais and Estoril. 

From Lisbon: Sintra, Cascais and Estoril Full-Day Trip

8. From Lisbon: Sintra, Cascais and Estoril Full-Day Trip

Embark on a day trip from Lisbon to discover Sintra, Cascais, and Estoril. Walk around and explore the 7 Wonders of Portugal, visit Hell's Mouth, and many more sites along the way. Enjoy a day out that you won't forget. You’ll be picked up at your accommodation in the morning. Then, start your full-day excursion with a drive to Sintra village. In Sintra, you’ll have a chance to visit the Palácio da Pena (Pena Palace), one of the 7 Wonders of Portugal. Then, take in the stunning gardens, caves, and architecture of Quinta da Regaleira. You’ll have free time for lunch and a walk around the historical center of Sintra village, and to taste the traditional Travesseiros and Queijadas of Sintra. Next, you’ll drive through the National Park of Sintra-Cascais to Cabo da Roca, the westernmost point of continental Europe. You’ll hear about the history of the site and enjoy stunning views from the cliffs overlooking the Atlantic Ocean. On the way to Cascais, you’ll stop to visit Boca do Inferno (Hell´s Mouth). In the charming village of Cascais, you’ll have some free time to explore the historical center’s main streets. On your way back to Lisbon you’ll enjoy a panoramic tour around Casino Estoril, an iconic place that served as a setting for a popular action movie.

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What people are saying about Estoril

What a lovely trip! I am totally impressed by Miguel - the best tour guide in Lisbon!! Love him. He is very friendly, knowledgeable and provided the best tourist experience for this trip. It is totally exceeded my expectations!! Hope I can Miguel as my tour guide again in the future…..he deserves 10 stars ⭐️⭐️⭐️⭐️⭐️⭐️⭐️⭐️⭐️⭐️

Miguel was a super guide, funny, very helpful and we were a small group of 7 so it was perfect for all the visits and the ride He is SO knowledgable, interesting and very patient. We will recommend him to everyone! Such a cool guy to learn from Top top choice Thank you Miguel for making us Lisbon!

Excellent tour, definitely recommending. Our guide, Ruth, was amazing, made the whole experience so much more enjoyable. Thank you

Ricardo was an amazing tour guide. The whole day went smoothly with a good amount of time in each location.

Sarvio es el mejor tour guide. Muy buena experiencia.