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    Quinta da Regaleira

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    Park Liberdade

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    Belem TowerAttraction 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

Monument to the DiscoveriesAttraction in Lisbon, Portugal

Cabo da RocaAttraction in Colares, Portugal

Lisbon CathedralAttraction in Lisbon, Portugal

  • Top experiences
  • Interests
  • 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

Hop-on Hop-off tours

Paragliding

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

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, Cabo da Roca Coast & Cascais Day Tour

Top rated
4.8 out of 5 stars
4.8
3526 reviews
Activity provider:
ODYSSEY TOURS
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Lisbon: Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour
Top rated
4.8 out of 5 stars
4.8
3526 reviews

Discover Sintra’s magic and Cascais’ charm in one epic tour. Explore Pena Palace, marvel at Cabo da Roca’s coastline, and unwind in Cascais. History, breathtaking views, and adventure—all in a day!

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
Skip the ticket line
Live tour guide
English, Portuguese, Spanish, French, Italian, German
Pickup optional
*Only for Private Tour option* For hotel pick ups, please wait outside the hotel entrance. Depending on your group size, you will either be picked up in a private sedan or a minivan.
Private group available

Highlighted reviews from other travelers

5
5 out of 5 stars
L
Lloyd – United Kingdom

Interesting historic facts gained Great guide Overall trip was amazing

5
5 out of 5 stars
S
Sarah – Australia

Caterina was an excellent guide, we all had a great day!

Select participants and date

Participants

Itinerary

  • Starting/pickup location

    Depends on the selected option

  • Van

    (30 minutes)

  • Sintra

    Photo stop, Visit, Guided tour, Free time, Sightseeing (70 minutes)

  • Pena Palace

    Visit, Sightseeing, Self-guided tour, Scenic views on the way (2 hours)

  • Guincho Beach

    Guided tour, Sightseeing, Scenic drive, Scenic views on the way (20 minutes)

  • Cascais

    Break time, Lunch, Free time, Sightseeing (2 hours)

  • Estoril

    Pass by

  • Van

    (30 minutes)

  • 2 drop-off locations:

    Starbucks, Lisbon

Main stop

For reference only. Itineraries are subject to change.

Highlights

  • Make unforgettable memories on a guided tour through Sintra and Cascais
  • Wander the charming streets of Sintra and feel its fairytale atmosphere
  • Learn the history and explore the vibrant Pena Palace and its lush gardens
  • Admire stunning coastal views along Cabo da Roca’s cliffs
  • Experience the elegance of Cascais and unwind by the scenic waterfront

Full description

Embark on an unforgettable journey through Portugal’s most breathtaking landscapes, where history, nature, and culture blend seamlessly. Begin your adventure in the magical town of Sintra, a UNESCO World Heritage site known for its fairytale charm, historic palaces, and lush surroundings. Stroll through its picturesque alleys, admire the colorful architecture, and feel the echoes of the past as you explore this enchanting village. Your guide will share fascinating stories and local secrets, giving you a deeper connection to Sintra’s royal legacy.

Next, make your way to Pena Palace, one of Portugal’s most iconic landmarks. Perched high on a hill, this vibrant and eclectic palace offers jaw-dropping views of the surrounding countryside. Wander through its lavishly decorated interiors, inspired by Romanticism, and explore the extensive gardens filled with exotic plants, hidden pathways, and serene lakes. Feel as though you’ve stepped into a real-life fairytale as you uncover the beauty and grandeur of this royal retreat.

Leaving Sintra behind, embark on a scenic drive along Cabo da Roca’s incredible coastline, where dramatic cliffs meet the vast Atlantic Ocean. Enjoy breathtaking panoramic views as you make your way to Guincho Beach, a stunning location known for its golden sand dunes and powerful waves. This stop offers the perfect opportunity for sightseeing and capturing incredible photographs, with sweeping ocean vistas and a magnificent backdrop of Cabo da Roca in the distance.

Your final stop is Cascais, a charming coastal town that seamlessly combines elegance with a laid-back atmosphere. Stroll through its vibrant streets, lined with boutique shops, stylish cafés, and historic mansions. Enjoy some free time to explore at your own pace—relax on the beach, wander through the bustling marina, or indulge in a delicious seafood meal at one of the local restaurants. As you make your way back to Lisbon, take in the scenic drive along the Estoril coastline, a glamorous retreat once favored by European royalty.

Join us for a day of history, breathtaking scenery, and unforgettable moments. Whether you’re a history lover, nature enthusiast, or simply looking for an extraordinary day trip, this experience is designed to give you the very best of Sintra and Cascais!

Includes

  • Entry tickets to the Pena Palace (if option selected)
  • Pickup and drop-off from Lisbon
  • Visit to Sintra
  • Visit to Pena Palace
  • Visit to Guincho Beach
  • Free time in Cascais
  • Scenic photo stops
  • Local and certified Tour Guide
  • Round-trip transportation in a comfortable, air-conditioned vehicle.
  • Insurance
  • Food and drinks
  • Gratuities (optional)

Not suitable for

  • People with mobility impairments
  • Wheelchair users

Meeting point

The general meeting point is in front of the Rossio Train Station (Estação do Rossio) at 08:00, right next to the Starbucks cafe. Please try to arrive 5 to 10 minutes early. We cannot wait for latecomers due to the strict nature of the itinerary.

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Important information

Not allowed

  • Luggage or large bags
  • Smoking in the vehicle

Know before you go

  • If you choose the option with Tickets Not Included you will need to purchase the tickets separately. Your guide will assist you during the tour.
  • We cannot guarantee that the Pena Palace Tickets (Interiors) will be available, as they tend to sell out in advance. You will always be able to purchase the Pena Gardens Tickets (Exteriors).
  • Due to limited availability of Pena Palace tickets during peak season, the tour itinerary order may occasionally be adjusted, by visiting the Pena Palace in the afternoon.
  • In the event of the Pena Palace being closed (due to extreme bad weather) the Sintra National Palace will be visited.
Save up to 48%

From $70 $37 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
4.8 out of 5 stars

based on 3526 reviews

Review summary

  • Guide
    4.9/5
  • Transportation
    4.9/5
  • Value for money
    4.7/5

Customer photos

+1126
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5
5 out of 5 stars
L
Lloyd – United KingdomJuly 7, 2025 – Verified booking
Interesting historic facts gained Great guide Overall trip was amazing
5
5 out of 5 stars
S
Sarah – AustraliaJuly 7, 2025 – Verified booking
Caterina was an excellent guide, we all had a great day!
5
5 out of 5 stars
k
krzysztof – United KingdomJuly 7, 2025 – Verified booking
Ivo was a fantastic guide! He shared so. Ich Fascinating information about the history of Portugal, making our experience. Highly recommend! both educational and enjoyable

Product ID: 490146

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

Top Attractions in Sintra

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

Experiences in Sintra

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

Tours in Portugal

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  • 5Lagos, Portugal Tours
  • 6Funchal Tours
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  • 11Cascais Tours
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  • 1Things to do in Lisbon
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  • 5Things to do in Lagos, Portugal
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  • 15Things to do in Carvoeiro
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  • 20Things to do in Sesimbra

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