Best Sintra Day Trip From Lisbon – Pena, Cabo Da Roca & Cascais
Overview
Available languages
8 hours
Mobile ticket
Discover breathtaking landscapes, rich history, and hidden gems with us.
We handle everything, starting with pick-up and drop off at your accommodation (private tour options only).
Explore stunning, lesser-known viewpoints and choose one monument to visit inside.
Feel the thrill at Cabo da Roca, mainland Europe’s westernmost point, where cliffs meet the Atlantic in postcard perfection.
Then, follow the scenic coast to Cascais, a charming fishing village once favored by royalty.
*Our Tour Options:*
• Private Tour Option – Without tickets included – If you choose Pena Palace or Quinta da Regaleira, purchase the tickets for 10:00am.
• Private Tour Option – With Pena Palace ticket included – We take care of it all!
• Group Tour Option – With Pena Palace ticket included. Meeting point/end location: Praça dos Restauradores 16, Lisbon. (This option does not offer pick up/drop off at the accommodation)
*If traveling with children, let us know their ages.
Additional Info
Infants and small children can ride in a pram or stroller
Public transportation options are available nearby
Specialized infant seats are available
Suitable for all physical fitness levels
For *Private Tour Options*, if stopping directly at your location isn’t possible, we’ll kindly arrange a nearby meeting point—never more than a 5-minute walk.
For *Group Tour Option* the meeting location will be at Praça dos restauradores 16, Lisbon
If your choice is to visit Pena Palace, and don't want the ticket included option, please purchase the tickets to 10am time slot.
Temporary road or monument restrictions may arise due to fire risk, flooding, or other unforeseen conditions beyond our control. If needed, we’ll adjust the route to guarantee a smooth and memorable experience. Your adventure with Wonder Van will always be unforgettable! ✨
If you are bringing children, please inform us of their ages directly.
What To Expect
Sintra Municipality
Welcome to our Home town! Apart from non-touristic viewpoints inside the natural park (and obviously the stunning nature, that will be everywhere you look) , we welcome you to decide which monument you wish to visit in the inside ( more than one will be very exhausting for one day only, believe us!) and give you our best recommendations to help you decide! You will get to see all of them from the outside or viewpoints, don’t worry
Park and National Palace of Pena
This will be one of the possibilities for you to visit in the inside! Yes, it’s exactly the one you’re thinking of, the famous fairy-tail like, colorful Palace on the top of the mountain - Pena Palace!
Options
Private Tour (Pena Included)
Private (Pick Up Included): This Private Tour Option offers Pick Up at Accommodation This private option includes Pena Palace Tickets Pickup included
Transportation Only via Roca
Via Cabo da Roca. Stop in Sintra Historical Center for free time. Meeting at the end of the tour, to return to Lisbon. Pick Up Not Included: DO NOT offer pick up at the accommodation Meeting : - Praça dos Restauradores, nº 16, Lisbon Pickup included
Group (Pick Up Not Included)
Meeting Location: This option has a meeting location for all participants - Pick up at accommodation is NOT included Pena Palace ticket included: Pena Palace Ticket is included Group Option - Pena Included : DO NOT offer pick up at the accommodation Meeting : - Praça dos Restauradores, nº 16, Lisbon Pena Palace Ticket is included Pickup included
Private Tour
Tickets not included: This Private Tour Option does not include Pena Palace tickets Pick Up at Accommodation: This Private Tour Option offers Pick Up at Accommodation Pickup included
What‘s Included
Group Tour Option - Meeting Location at Praça dos Restauradores 16, Lisbon
Expert Local Guide (that is also your driver & friend for the day)
Private Tour Options - Pick up At accommodation
Transport in a comfortable MiniVan or Minibus
Lots of fun guaranteed!!!
Lunch , Snacks or drinks
Tips
Park and National Palace of Pena
Group Tour Option - Pick Up at Accommodation not included
Pickup points
Select a pickup point
Cancellation Policy
For a full refund, cancel at least 24 hours before the scheduled departure time.
Reviews
495 reviews
Total reviews and rating from Viator & Tripadvisor
Highly recommend!
guillaumebA9228WA,Jun 22, 2026
- Review from Tripadvisor
5.00This was one of the highlights of our trip to Portugal. The tour was very well organised and covered an incredible amount in a single day, including Pena Palace, the beautiful town of Sintra, the Initiation Well at Quinta da Regaleira, Cabo da Roca, and the charming coastal town of Cascais. A special thanks to Rafael, who was an outstanding guide. He was extremely knowledgeable and shared lots of interesting information about the history, culture, and landmarks throughout the day. The pace of the tour was perfect—busy enough to see all the highlights, but never rushed. The scenery was spectacular, transportation was comfortable, and everything ran smoothly from start to finish. I would highly recommend this experience to anyone visiting Lisbon who wants to see the best of Sintra and the surrounding area in a day.
Full day of history with a great guide
athenah482,Jun 22, 2026
- Review from Tripadvisor
5.00Kind and knowledgeable guide. Extensive tour that will amaze!
Wonderful day!!
alexcS3730IN,Jun 19, 2026
- Review from Tripadvisor
5.00Raphael was a wonderful guide. He was great with our kids and very mindful that we were having a great time. Would come back and do it again! Thank you!
Enriching excursion
claudyas2026,Jun 19, 2026
- Review from Tripadvisor
5.00Rafael adds real value by sharing his knowledge and experience about Portuguese history and culture. We had an excellent excursion.
Sinatra
Itk2001,Jun 19, 2026
- Review from Tripadvisor
5.00A day tour with Rafael was excellent, interesting and exciting.
Best tour guide
81yesseniar,Jun 19, 2026
- Review from Tripadvisor
5.00He was clear and informative. He is very knowledgeable in the history. Would answer questions. Made the experience fun.
Great tour!
X9058MQcarolinec,Jun 19, 2026
- Review from Tripadvisor
5.00We had a wonderful experience with Rafael on this day trip! He shared history with humor. Thank you!
Great Experience & amazing guide!
gruez,Jun 19, 2026
- Review from Tripadvisor
5.00Such a great tour! Raphael was such a great guide. Very knowledgeable & nice. Have us plenty of free time & make sure we took breaks when needed. Overall, 10/10 experience!
Book now!
Kameron F,Jun 18, 2026
- Review from Tripadvisor
5.00Rafael was amazing! Our uber was late coming from Sesimbra and he was kind enough to wait for us even though we were past the 15 minute grace period. Grateful for the opportunity to experience such an incredible experience. He even showed us a spot for lunch that he often goes to. Very personable
Fantastic day with Luis!
W2081IEallisonl,Jun 13, 2026
- Review from Tripadvisor
5.00Luis was a fantastic guide! He exceeded our expectations over and over with his kindness and knowledge of the area! Gave great suggestions and never made us feel rushed.
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