Lisbon Full-Day Guided Tour: Sintra, Pena Palace & Cascais

Join a guided tour to explore the wonders of Pena Palace, Sintra Historic Centre, Cabo da Roca and Cascais. Immerse yourself in the romance of Pena Palace and Sintra, marvel at the wild beauty of Cabo da Roca, and absorb the charm of Cascais on this immersive journey.

Discover the colourful Pena Palace nestled among tall trees in the hills of Sintra, a masterpiece of fairy-tale architecture awaiting exploration. Wander the palace gardens and opulent chambers, and capture the vivid façades and dramatic turrets that inspire photographers and history lovers alike.

Explore the heart of Sintra at your own pace with recommendations from your guide on must-see sights and authentic places to eat. Stroll cobbled streets, admire traditional tiles and sample local pastries such as travesseiro and queijada to savour regional flavours.

Travel to Cabo da Roca to witness where the land meets the Atlantic: rugged cliffs, expansive sea views and dramatic scenery provide a memorable backdrop. Continue to Cascais for a short walking tour of this coastal town, where beaches, marinas and historic corners reveal the relaxed spirit of the Portuguese Riviera.

Enjoy some free time to explore Cascais further, discover local shops or relax by the sea before returning towards Lisbon via Estoril.

This full-day excursion blends cultural heritage, natural spectacle and local taste, creating lasting memories of Portugal’s enchanting landscapes and history.

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• Fairy-tale architecture: Explore the vivid colours and panoramic views at Pena Palace.
• Coastal drama: Stand at Cabo da Roca and feel the power of the Atlantic against towering cliffs.
• Seaside charm: Wander Cascais’ lively streets and beaches, with time to relax or discover local shops and cafés.