Private Tour
Lisbon Private Tour Sintra, Pena Palace and Coastal Highlights
Overview
Available languages
9 hours
Mobile ticket
Embark on an exclusive full-day private tour from Lisbon and uncover the wonders of Sintra, Cabo da Roca, Cascais, and Estoril in one unforgettable journey.
Begin at the fairytale Pena Palace, a UNESCO World Heritage site where vibrant colors, ornate interiors, and sweeping gardens showcase Portugal’s Romanticist charm. Continue to the mystical Quinta da Regaleira, an estate of symbolism and mystery, where lakes, grottoes, and the famous Initiation Well invite you to step into a world of legends.
Next, feel the thrill of standing at the edge of Europe at Cabo da Roca, gazing over dramatic cliffs and the endless Atlantic Ocean. Then, soak in the coastal elegance of Cascais, a former royal retreat with golden beaches, a lively marina, and charming streets perfect for strolling or relaxing by the sea.
Conclude in Estoril, famed for its gardens, luxurious hotels, and the iconic casino that inspired James Bond. With a private guide and tailored itinerary, every moment is crafted for you.
Additional Info
Service animals allowed
Specialized infant seats are available
Travelers should have at least a moderate level of physical fitness
To reach the Pena Palace, is necessary to do moderately difficult a walk. If you prefer, you can ask our guide to arrange the shuttle service on site.
In case of high risk of wildfires, the visit to Pena Palace will be replaced with a visit Queluz Palace! In case of strike , we will replace the Pena Palace with Regaleira Estate.
Please note that if you choose the option to visit both Pena Palace and Quinta da Regaleira, the tour of Cascais and Estoril will be only panoramic. If you choose the tour without inclusions, the visit to Pena Palace or Quinta da Regaleira will not be included.
The Palace of Pena is not accessible to people with reduced mobility due to the existence of steps and climbs throughout the tour.
Cancellation Policy
For a full refund, cancel at least 24 hours before the scheduled departure time.
What To Expect
Sintra
Arriving to Sintra, discover the first "cultural landscape" to be inscribed as a World Heritage Site by UNESCO. And for a very good reason: Sintra, is considered one of the most beautiful cities in the country. With its hills, exotic gardens and brightly coloured palaces, it looks like a town out of a fairytale book.
National Palace of Pena
Do visit to Pena Palace, a UNESCO World Heritage Site known for its Romanticist architecture and stunning panoramic views of Sintra. Explore the palace's vibrant interiors and lush gardens, immersing yourself in its rich history
What‘s Included
Admission ticket to Pena Palace and its gardens (if option selected)
Admission ticket to Quinta da Regaleira (if option selected)
Hotel pickup and drop-off in Lisbon
Private driver-guide
Air-conditioned vehicle
Meals
Gratuities
Pickup points
Hotel Mundial
Praca Martim Moniz 2, Lisbon Portugal
Options
Private Tour Quinta Regaleira
Quinta da Regaleira Entrence
Pickup included
Pena Palace & Quinta Regaleira
Pena Palace&Quinta Regaleira
Pickup included
Private Tour with Pena Palace
Pena Palace Entrence
Pickup included
Private Tour without inclusion
Pickup included
Reviews
10 reviews
Total reviews and rating from Viator & Tripadvisor
Amazing Sintra & Cabo da Roca Tour with Pedro
GoPlaces353441,Mar 21, 2026
- Review from Tripadvisor
5.00We had a fantastic tour from Lisbon to Sintra and Cabo da Roca with our guide, Pedro. He was friendly, knowledgeable, and made the whole day enjoyable with interesting stories and great recommendations. The tour was very well organized and perfectly paced, allowing us to fully enjoy the beautiful scenery and historic sites. Cabo da Roca was breathtaking, and Sintra was absolutely magical. Pedro made sure everyone was comfortable and had plenty of time for photos and exploring. Highly recommended for anyone visiting Lisbon!
Very good full day tour experience with an amazing tour guide
drewhS5894CC,Mar 6, 2026
- Review from Tripadvisor
5.00We did the small group private tour of Full day Sintra with Pena Palace and Quinta da Regaleira with stop in Cascais with Pedro. The whole day was amazing! He accommodated my elderly grandfather very well when it came to his troubled walking, and even had a second idea ready for us since he wasn’t able to walk as much as expected. His relationships with the staff were very much appreciated. He was very passionate the entire time, and knew so much about everything. Having the tickets ready in advance was very convenient and helped save some time. I highly recommend Pedro!!! He also gave us plenty of recommendations to experience outside of the tour which is very informative and helpful.
Great walk!
beatrizsF5987ZK,Feb 22, 2026
- Review from Tripadvisor
5.00Great walk! Beautiful places! The guide Pedro was very attentive and enriched the tour with the stories of the places.
An amazing experience
brentdK4507OK,Feb 20, 2026
- Review from Tripadvisor
5.00Pedro was a great guide for us! His historical knowledge was delivered in a warm and personable way. He made us feel right at home, while visiting Lisbon. We will definitely be recommending him to our friends who plan to travel to Portugal.
Unmissable
T6923TCgabrielae,Jan 26, 2026
- Review from Tripadvisor
5.00Excellent walk, guide Diego was very kind to us and his work great, all very well explained
Excellent experience and a phenomenal guide
Maria P,Dec 4, 2025
- Review from Tripadvisor
5.00We took several tours with living tours and all were better than expected! Their very trained guides and made us spend some amazing days in Porto and Lisbon.
Sintra-Cabo Roca-Cascais in a day
ramesh-thyags,Nov 3, 2025
- Review from Tripadvisor
5.00Had a great day trip to Sintra, Cabo Roca and Cascais. The Pena palace is absolutely beautiful as was Cabo Roca - the western most point in Continental Europe. Cascais was nice, but we were prolly a little tired by then. Pedro- our driver/guide is a gem and very friendly and knowledgeable.
Touring Portugal with the best guide!
B2082SQpeterm,Oct 11, 2025
- Review from Tripadvisor
5.00Our guide was phenomenal! He toured us around, gave us a great history lesson on Portugal and many other interesting facts. He was very knowledgeable, patient and spoke good English!!
Highly recommend
Annemaree G,Oct 6, 2025
- Review from Tripadvisor
5.00Our journey from Cascais to Sintra via the coast was very scenic and enjoyable. Our driver Pedro was knowledgeable and professional and a great driver. He tailored our day to suit our needs perfectly. Pedro’s local knowledge ensured a smooth reroute to Cabo da Roca when the coastal road was closed due to sandfall on the road. Highly recommend Pedro and this tour.
Incredible experience to Sintra and surroundings.
Seaside12070610826,Sep 4, 2025
- Review from Tripadvisor
5.00We had a wonderful experience, guide Nuno Gomes extremely attentive, explained the whole story and always very requested, it was an incredible experience!!!! I recommend!!!
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