Day trip

From Lisbon: Sintra with Pena Palace and Cabo da Roca by 4WD

Day trip

From Lisbon: Sintra with Pena Palace and Cabo da Roca by 4WD

From US$ 107.78 per person

Discover the beauty and culture of Sintra and Cabo da Roca on this guided tour. Explore the history of Sintra, take a 4WD Jeep through Sintra’s mountains to Cabo da Roca, and more.

About this activity

Free cancellation
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Duration 4 - 6.5 hours
Check availability to see starting times.
Skip the ticket line
Live tour guide
Spanish, English, French, Portuguese
Private group available


  • Feast your eyes on the charm, culture, and beauty of romantic Sintra
  • Take a guided tour of the Pena Palace, a pinnacle of 19th century Romanticism
  • Visit the sacred Convent of Peninha and take in its amazing view of the beaches
  • Enjoy a 4WD Jeep drive through incredible mountain trails surrounded by nature
  • See the incredible views from Cabo da Roca, the westernmost point of Europe
Full description

Explore the beauty and culture of Sintra and Cabo da Roca on this guided tour. Stroll through the picturesque village of Sintra, take a tour through the Pena Palace, and more. Take a 4WD Jeep through Sintra’s mountains and see the magical Cabo da Roca.

Meet your guide in Lisbon's city center and travel to romantic Sintra in a comfortable air-conditioned minivan. 

Arrive at one of the highest points of the Serra de Sintra to see the Pena Palace, one of the most iconic expressions of 19th-century Romanticism in Europe. Enter its gardens and see the exotic trees from all over the world, which add to its magic and mystery.

Head for the Pena Palace itself, one of the main residences of the Portuguese royal family during the 19th century. Admire the mixture of architectural styles and see why King Fernando II deserved the nickname of King-Artist.

Enjoy the views of the Moorish Castle, a testimony to the Islamic presence in the Iberian Peninsula, built in the 9th century and conquered by the Portuguese during the formation of the Portugal Kingdom. 

Take in the landscape of Sintra, a world heritage site, before heading down to the picturesque village to stroll freely through its charming streets, or taste its regional products, such as the famous travesseiros and queijadas de Sintra.

Continue the tour aboard a 4WD Jeep, and enter the mountain trails where you will find gigantic trees and huge blocks of rocks, creating a magical setting.

Visit the Convent of Peninha, a sacred place from which you can observe impressive views of the region's beaches and the huge rocks that make up the Sintra Magmatic Massif, a geological marvel.

The tour then continues to the wild and rugged Cabo da Roca, the westernmost point of Europe, which the famous Portuguese poet Luis de Camões defined as onde a terra acaba e o mar começa: where the land ends and the sea begins. You’ll be dazzled by the views.

Return to Lisbon in a comfortable air-conditioned minivan, filled with enough amazing memories to last a lifetime.

  • Bilingual Guide Tour
  • Pena Palace entry ticket
  • Air-conditioned transport
  • Gratuities
Not suitable for
  • Pregnant women
  • Wheelchair users

Select participants and date



Meeting point

The meeting point is just beside Hotel Fenix, door nr 8C. The van will be parked in front.

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Important information

What to bring

  • Comfortable shoes

Know before you go

  • Due to logistics matters, the tour must start on time. Late arrivals will be considered a non-refundable no-show
  • This tour is subject to cancellation or rescheduling due to inclement weather
  • There is a minimum of people required to operate the tour. In the event that this minimum is not met, you will be offered an alternative date, another tour of equal or superior value, or a full refund.
  • There is a minimum of people required to operate in languages that are not English or Spanish. if this minimum is not reached, the tour will be offered in English
Customer reviews

Overall rating

5 /5

based on 11 reviews

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We had a wonderful experience with Jorge as our guide for this tour. He was very knowledgeable about Portuguese history and trivia as well as quite personable, friendly, and fun. Our tour of Peña Palace was excellent as he provided us with ongoing commentary and interesting information about the palace’s history and inhabitants. We had been here once before, but without a guide. Having a guide made all the difference. We weren’t exactly sure what to expect from the 4x4 tour, but it turned out to be amazing. Our route from Sintra to Cabo da Roca was the ‘less traveled’ route meaning we had a very unique experience enjoying the natural beauty of the area as well as incredible views that we never would have had otherwise. Jorge answered all of our questions, took photos of our group, and even made suggestions of other activities to do and places to visit in Lisbon. We all felt fortunate that he was our guide for this activity.

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March 26, 2023

This was an amazing experience! We had a group of 5 and we all had a memorable experience at Peña Palace and during the Jeep tour. Flavio was our guide and Cam was our jeep driver and both were wonderful guides! They know all of the best photo op area and were great at capturing group photos for us. Cam took us to some really beautiful viewpoints in the jeep which was the best part. Wish we had more time to explore the city of Sintra but was still a great day. 10 out of 10 would recommend!

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March 26, 2023

We had a Wonderfull time on our tour today. Our guides were Madalena and Flavio with our van driver Arthur and Jeep Drivers Jorge and Joao. All guides were super knowledgeable, humorous and helpful. We saw beautiful sites, enjoyed both van and Jeeps and learned a lot about the area. They definitely know what they are doing and make the entire group feel safe and welcome. They also prompted our group to have them to take photos of your party which was awesome as we often get so into the tour we forget. I would recommend this tour company and these guides were the best so if you can get them you will enjoy. Thank you very much, what a day!!

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March 26, 2023

Product ID: 415919