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    Explore Sintra

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    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

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    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

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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

Wine tasting & winery tours

Hiking

Jeep & 4WD tours

Surfing lessons

Bike tours

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

Family-friendly activities

For adults

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

From Lisbon: Sintra & Cascais Small Group Tour with Tickets

Top rated
4.759334 out of 5 stars
4.8
4.759334 out of 5 stars
2223 reviews
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From Lisbon: Sintra & Cascais Small Group Tour with Tickets
Top rated
4.759334 out of 5 stars
4.8
4.759334 out of 5 stars
2223 reviews

See the fairytale Pena Palace and gardens of Sintra on a guided van tour. Follow in the footsteps of Europe's nobles at Cascais and drive along the coast to Cabo da Roca for panoramic views.

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 8 hours
Check availability to see starting times
Live tour guide
French, Spanish, Portuguese, English, Italian
Pickup optional
Hotel/Accommodation Pick Up in Lisbon Center

Highlighted reviews from other travelers

C
Chris – United States

Our guide was knowledge and funny. It was a pleasant tour.

H
Henrik – United States

Excellent! Guides Joao and Nuna were perfect guides and gracious hosts. Very well organized! Can highly recommend!!

Select participants and date

Participants

Itinerary

  • Timeline stop icon

    Starting/pickup location

    Depends on the selected option

  • Van

    (30 minutes)

  • Timeline stop icon

    Pena Palace

    Visit (1.5 hours)

  • Sintra

    Free time (1 hour)

    Sintra

    Lunch (1 hour)

    Optional

  • Cabo da Roca

    Photo stop (20 minutes)

  • Boca do Inferno

    Photo stop (15 minutes)

  • Timeline stop icon

    Cascais

    Free time (1 hour)

  • Van

    (30 minutes)

  • 4 drop-off locations:

    VIP Executive Éden Aparthotel, My Story Hotel Figueira, Lisbon, HF Fénix Lisboa

Main stop
Other stop

For reference only. Itineraries are subject to change.

Highlights

  • Explore the fairytale palaces and gardens of Sintra
  • Admire the extravagant architecture of Pena Palace
  • Go to the westernmost point of continental Europe at Cabo da Roca
  • Drive past the legendary surfing beaches of Cascais
  • Discover the unique Devil's Mouth cave

Full description

Discover the beautiful towns of Sintra and Cascais on a day tour from Lisbon. Your knowledgeable guide will provide historical and cultural insights, offering a glimpse into what it would have been like to be a member of the Portuguese royal family.
Start with pickup from Lisbon and travel to the charming town of Sintra. Admire the exterior mountaintop views of the Pena Palace as your guide details its fascinating history.

Next, you will venture to Cabo da Roca, the westernmost point of continental Europe. Take in panoramic views of the rugged coastline and appreciate the stunning beauty of the surrounding scenery.
As you continue on your journey, pass by some of the most picturesque beaches in the area, including the scenic Praia do Guincho. Explore the mysterious Devil's Mouth cave, formed by the crashing waves on the rocky bluff.

Your tour will then take you to the charming resort town of Cascais, favored by European nobles for its idyllic setting. Stroll along the harbor and take in the elegant architecture and atmosphere of this special place.

After soaking up all that Cascais has to offer, make your way back to Lisbon, where your guide will drop you off at your hotel, having given you a memorable experience of Portugal's rich history, culture, and breathtaking landscapes.

Includes

  • Pickup and drop-off from chosen locations in Lisbon
  • Hotel Pick Up (If selected)
  • Transportation by air-conditioned vehicle
  • Entrance to Pena Park and Palace Balconies
  • Personal and accident insurance
  • Lunch

Meeting point

Meeting point may vary depending on the option booked.

Important information

What to bring

  • Comfortable shoes

Know before you go

  • Due to the storm on March 19th and 20th, visits to Pena are subject to security concerns until April 16th. Alternatively, another Palace will be visited at no extra cost.

From $100.66 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

4.8 /5

based on 2223 reviews

Review summary

  • Guide
    4.9/5
  • Transportation
    4.8/5
  • Value for money
    4.6/5

Customer photos

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C
Chris – United StatesMay 7, 2025 – Verified booking
Our guide was knowledge and funny. It was a pleasant tour.
H
Henrik – United StatesNovember 14, 2024 – Verified booking
Excellent! Guides Joao and Nuna were perfect guides and gracious hosts. Very well organized! Can highly recommend!!
S
Steve – United StatesSeptember 3, 2024 – Verified booking
Outstanding sites, great timing, fantastic narrative and explanations by our guide, who was friendly and knowledgeable. An absolutely superb experience! Would recommend suggesting bringing Warner clothes when appropriate, as the sites were windy and much colder than Lisbon proper.

Product ID: 115333

Activity provider:Go2Lisbon - Tours & Transfers
  • 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
  • 8Historic Center, Sintra
  • 9Parque Nacional da Pena
  • 10Biester Palace and Park
  • 11Seteais Palace
  • 12Sintra Mountains
  • 13Sintra Myths & Legends Centre
  • 14Sintra Centre
  • 15Lagoa Azul
  • 16Chalet and Garden of the Countess of Edla
  • 17Convent of the Capuchos
  • 18Villa Sassetti
  • 19Park Liberdade
  • 20Miradouro da Vigia

Experiences in Sintra

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

Tours in Portugal

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

Top destinations

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  • Rome
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  • London
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  • Istanbul
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  • Hamburg

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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