Lisbon: Sintra & Pena Palace Guided Tour with Hotel Pickup

Top rated
4.9 out of 5 stars
4.9
254 reviews
Activity provider:
Amazing Discovery Tours
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Lisbon: Sintra & Pena Palace Guided Tour with Hotel Pickup
Likely to sell out
Top rated
4.9 out of 5 stars
4.9
254 reviews

Discover the secrets of Sintra and enjoy a personalized, guided visit to the romantic Pena Palace. Admire the views from Cabo da Roca cliffs, Guincho beach and walk along the beautiful Cascais bay.

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 5 - 7 hours
Check availability to see starting times
Skip the ticket line
Live tour guide
English
Pickup included
Hotel and apartment pickup service will be provided in the central Lisbon area. If you are staying in a street that is difficult to access by vehicle, you may be asked to walk to a location near your accommodation to facilitate pickup. To avoid delays, please be ready 5 minutes before the scheduled pickup time.
Small group
Limited to 6 participants

Highlighted reviews from other travelers

5
5 out of 5 stars
H
Hon Kar – Hong Kong

All are good. the guide Agnes is perfect and the driver provided us a safe journey.

5
5 out of 5 stars
M
Martina – Ireland

Agnes and Paulo were excellent!! Agnes was very knowledgeable and informative. Paulo made sure we got to where we needed to be and reappeared as soon as we were ready. A very enjoyable day had by the family.

Select participants and date

Itinerary

  • Pickup location:

    Lisbon

  • Van

    (40 minutes)

  • Pena Palace Gardens, Sintra

    Visit, Guided tour, Sightseeing, Walk (1 hour)

    Extra fee

    Sintra Palace

    Visit, Guided tour, Free time (1 hour)

    Optional, Extra fee

  • Van

    (10 minutes)

  • Sintra

    Guided tour, Free time, Walk (1 hour)

  • Van

    (30 minutes)

  • Sintra-Cascais Natural Park

    Scenic drive

    Cabo da Roca

    Photo stop, Scenic views on the way (20 minutes)

    Optional

  • Van

    (35 minutes)

  • Guincho Beach

    Sightseeing, Scenic drive

  • Cascais

    Sightseeing, Scenic drive

  • Baía de Cascais

    Photo stop, Walk (30 minutes)

  • Van

    (45 minutes)

  • Arrive back at:

    Lisbon

Main stop
Other stop

For reference only. Itineraries are subject to change.

Highlights

  • Visit the Pena Palace, one of the major expressions of 19th century Romanticism in the world
  • Enjoy free time for exploring the historical center of Sintra
  • Admire the views from Cabo da Roca
  • Discover the beauty of Guincho beach
  • Walk along Cascais bay

Full description

Benefit from pickup at your hotel in Lisbon, and then travel to the UNESCO World Heritage monument of Pena Palace, one of the finest expressions of 19th-century Romanticism in the world. Marvel at the extravagant decorations and royal collections of the opulent interiors, and get amazing views from the rooftop cafe and terraces.

You then head down to Sintra to enjoy some free time to shop or explore the historical center. Try the local pastries and take souvenir photos of the best-preserved medieval royal residence in Portugal, the Sintra National Palace.

Continue towards the historic estates of Seteais and Monserrate on the way to Cabo da Roca. Get panoramic views from the westernmost point of mainland Europe, and take souvenir photos of the surfers paradise of Guincho Beach. Stop at the village of Cascais and take some walk along the bay before the return journey to Lisbon.

Includes

  • Pick-up and drop-off at your hotel or apartment in central Lisbon
  • Transportation by air-conditioned minivan
  • Guide
  • Driver
  • Guided tour of Pena Palace (if 7-hour tour option selected)
  • Guided tour through Pena Palace gardens
  • Free time at Pena Palace terraces
  • Guided tour in Sintra
  • Free time in the historical center of Sintra
  • Stop at Cabo da Roca (if 7-hour tour option selected)
  • Stop at Guincho Beach
  • Walk along the Cascais Bay
  • Full insurance
  • Pena Palace and Park entry (20 EUR per person is collected in cash on the day of the tour)
  • Pena Garden and Terraces entry (10 EUR per person is collected in cash on the day of the tour)

Not suitable for

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

Important information

What to bring

  • Comfortable shoes
  • Snacks
  • Water
  • Jacket

Know before you go

  • A considerate amount of walking, walking uphill including steps up and down is involved, so be sure to wear comfortable shoes
  • If tour option with entry tickets including is not available, you can get the Pena Palace tickets directly from a guide on tour day.
  • You'll be notified by email or what’s app message about exact pickup time at your hotel or apartment
  • If you are staying in Lisbon, Bairro Alto, or Alfama districts, you may have to walk to a location near your accommodation to facilitate pickup
  • Feel free to bring snacks with you
Likely to sell out

From $64 per person

Customer reviews

Overall rating

4.9 /5
4.9 out of 5 stars

based on 254 reviews

Review summary

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

Customer photos

+13
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By star rating
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5
5 out of 5 stars
H
Hon Kar – Hong KongJuly 10, 2025 – Verified booking
All are good. the guide Agnes is perfect and the driver provided us a safe journey.
5
5 out of 5 stars
M
Martina – IrelandJune 27, 2025 – Verified booking
Agnes and Paulo were excellent!! Agnes was very knowledgeable and informative. Paulo made sure we got to where we needed to be and reappeared as soon as we were ready. A very enjoyable day had by the family.
5
5 out of 5 stars
J
JoAnne – CanadaJune 8, 2025 – Verified booking
We loved our guide Agnes and driver Palo. It was such a fun day exploring Sintra including Pena Palace and Sintra village. Agnes was so knowledgeable and answered all our questions. We felt so comfortable like we were touring with friends. And Palo was amazing with driving us to Sintra and Cascais and making it look so easy! We all said it was the best day! Thanks Agnes for your restaurant recommendations as well. We have already tried 1 restaurant which was a big hit! Looking forward to trying the others as well. You guys are great! We were so fortunate to have you both as our guide and driver! JoAnne, John,Linda & John

Product ID: 141417

Activity provider:
Amazing Discovery Tours

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