Private Full-Day Tour Sintra, Pena Palace, Cabo da Roca & Cascais
Overview
Available languages
Mobile ticket
Departing from your hotel or accommodation, embark on a private full-day tour to explore the magical town of Sintra. Discover its charming streets and iconic landmarks with a specialized guide who will share fascinating local and general history. Visit the Pena Palace (tickets included) and, if you wish, explore additional monuments and sights according to your interests.
Continue to the Cabo da Roca, the westernmost point of continental Europe, and enjoy breathtaking views of the Atlantic Ocean and surrounding landscapes. The tour then takes you along the stunning Guincho Beach, finishing at the picturesque village of Cascais, where you can admire its beauty and coastal charm.
This private tour is fully customizable, allowing you to tailor the itinerary to your preferences, ensuring a unique and memorable experience.
Additional Info
Specialized infant seats are available
Service animals allowed
Public transportation options are available nearby
Infants and small children can ride in a pram or stroller
Wheelchair accessible
Suitable for all physical fitness levels
What To Expect
Sintra
visit the unique and wonderfull village of sintra so you can discover its mysteries
Cabo Da Roca
Enjoy wonderful landscapes at the western most point of Europe
Options
Private Full-Day Tour Sintra, Pena Palace, Cabo da Roca & Cascais
Pickup included
What‘s Included
WiFi on board
Bottled water
Air-conditioned vehicle
Ticket to Visit Pena Palace
Guia / Guia informativo
Pickup points
Select a pickup point
Cancellation Policy
For a full refund, cancel at least 24 hours before the scheduled departure time.
Reviews
9 reviews
Total reviews and rating from Viator & Tripadvisor
Ask for Ana! She Made Our Sintra Tour the Highlight of Our Portugal Trip
Jose B,Jun 16, 2026
- Review from Viator
5.00Our day with Ana was easily one of the highlights of our trip to Portugal. From start to finish, she was exceptional—knowledgeable, professional, personable, and genuinely invested in making sure we had an amazing experience. Ana brought every destination to life with fascinating historical context, local stories, and insights that we never would have discovered on our own. Her knowledge of Sintra, Pena Palace, Cabo da Roca, Cascais, and the surrounding region was remarkable, and she answered every question with incredible depth and enthusiasm. What impressed us most was how attentive and accommodating she was throughout the day. She tailored the experience to our interests, happily incorporating additional local stops and recommendations along the way. Nothing ever felt rushed, and she consistently made sure we were comfortable and enjoying ourselves. Ana was also an excellent driver, making the entire day relaxing and stress-free. It was clear that she is deeply connected to the local community and has extensive experience guiding visitors through the area. Everywhere we went, she navigated effortlessly and made the experience seamless. My wife and I have traveled extensively and have taken many guided tours around the world, and Ana ranks among the very best guides we have ever had. Her professionalism, warmth, local expertise, and dedication to her guests are truly outstanding. If you’re fortunate enough to have Ana as your guide, you’re in for an incredible experience. We cannot recommend her highly enough.
Unforgettable full day tour with Pedro!
Almaz M,May 28, 2026
- Review from Tripadvisor
5.00We had an absolutely incredible experience with LRS and our guide Pedro during our tour to Cabo da Roca, Sintra and Cascais. From the moment he picked us up in Lisbon until the end of the day, everything was perfect. Pedro spent around six hours with us and made the entire experience feel personal, relaxed, and genuinely memorable. He’s not only extremely knowledgeable about the history, culture, and local traditions of Portugal, but also incredibly funny, friendly, and easy to spend the day with. He showed us breathtaking spots we never would have found on our own, took us to amazing places for breakfast and lunch with unreal views, and shared so many interesting stories and local insights throughout the tour. Every stop felt thoughtfully chosen and special. What really stood out was how much he cared about making sure we had the best possible experience. He even took great photos for us during the day, which we really appreciated. Honestly, this was one of the highlights of our trip to Portugal. If you’re thinking about visiting Sintra and Cascais, I can’t recommend Pedro and LRS tours enough. Professional, fun, knowledgeable, and genuinely passionate about what they do. Thank you again, Pedro - unforgettable day! 🫶🏻
Great day
alarinki,Oct 18, 2025
- Review from Tripadvisor
5.00Pena palace was great.Our guide Anna was amazing.Visiting Pena is wise choise to choose LRS private tours,they managed all the tickets and transport it was very comfortable.As a tourist it would be hard to find parking and transports all by yoursef.We are glad we chose them.Thank you Anna and your company for great experience.
The best of Portugal on a one day visit.
ZenaidaG C,Sep 24, 2025
- Review from Viator
5.00It’s a great tour to experience the best sites on a one day visit to Portugal. Our tour guide Marco was very professional and knowledgeable. It was a private tour where they provided as transport from Fatima to Lisbon at the same time.
Anna was excellent
P2799EHbarryw,Sep 22, 2025
- Review from Tripadvisor
5.00Anna, our guide, was wonderful. She was fun, knowledgeable, friendly, and she knew everyone everyone from fellow guides to restaurant owners. She made the tour enjoyable.
Pena palace
Sylvia V,Aug 22, 2025
- Review from Viator
5.00It was a good choice. Beautiful sights and weather. They took us to a great location for lunch..the food was delicious. The drivers were so knowledgeable and friendly.
The best tour and tour guide ever
Young L,Aug 6, 2025
- Review from Viator
5.00Our tour was AMAZING! Pedro led us through multiple scenic and historically rich locations like a true expert. He made us feel extremely comfortable while also being helpful and personable. I greatly appreciated Pedro’s lively personality. He kept us engaged with history, he helped take photos of us and he helped us create unforgettable memories.
Must do from Lisbon
PAUL R,Jul 15, 2025
- Review from Viator
5.00Marco was an incredible guide. Tailored to what we liked. Great conversation in the car. Would go to him again in a heartbeat. Sintra beautiful. Palace well it’s a palace. Cascais very nice beach town. Sintra and Cascais good souvenir shopping
Best decision ever was booking a tour with Ana
B5257AWleahb,Jun 7, 2025
- Review from Tripadvisor
5.00Ana is AMAZING. So friendly, intelligent, and kind. She treated us like family and made us feel so comfortable. I had the absolute best time on the tour and learned things I wouldn’t have if it wasn’t for her. You can tell she loves her job! She also reserved a table for my friend and I at an ocean-front restaurant, which she didn’t have to do but does anyway because she just always goes the extra mile. She’s confident and just so amazing!! I will remember this trip forever.
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Operated by LRS, Private tours