Small-Group to Sintra, Pena Palace, Regaleira, Roca & Cascais
Overview
Available languages
8 hours
Mobile ticket
Departing from Lisbon, enjoy a small-group tour to visit Pena Palace Interior and Park (select ticket option), explore the medieval village of Sintra, admire views from Cabo Roca, westernmost point of continental Europe, and discover stunning Cascais coast.
Stroll through charming streets, taste local pastries, take photos, and gain insight into Portugal’s history, daily life, and food culture. Led by local guides, the tour offers the perfect balance between engaging guided explanations and relaxed free time to explore at your own pace.
- Pickup and drop-off
- Local guide
- Pena Palace Interior & Park (if ticket option selected)
- Sintra old town, walk to Regaleira (**ticket optional)
- Cabo da Roca and ocean views
- Cascais & Estoril
* Pena Palace - select a ticket option. Your guide will provide a comprehensive explanation at the exterior of the palace, with time to explore the interior independently.
** Regaleira ticket not included: please contact team, in case you wish to visit
Additional Info
Infants and small children can ride in a pram or stroller
Public transportation options are available nearby
Specialized infant seats are available
Not recommended for travelers with poor cardiovascular health
Travelers should have at least a moderate level of physical fitness
Pena Palace interior and Park included (if option selected)
Regaleira not included: please contact team in case you wish to visit
Good to skip lines
Tours can be bilingual (operated in 2 languages)
We recommend wearing comfortable shoes, as we will walk at some of the sites to visit
LGBTIQ+ friendly
Sintra is often rainy / foggy or colder than Lisbon, particularly early morning, so please check forecast
Tour will go ahead even under rainy conditions, always ensuring everyone's safety
Not suitable for travellers with limited mobility
Cancellation Policy
For a full refund, cancel at least 24 hours before the scheduled departure time.
What To Expect
National Palace of Pena
Visit to the Pena Palace interior and Park (select ticket option ). The Pena Palace is one of the best representations of 19th century Romanticism in Europe. Being the second-highest point in the Serra de Sintra (over 500m above sea level), it will amaze you with its unique architecture and spectacular views. King Ferdinand II - the king-artist - fell in love with Sintra, and following the purchase of the property, decided to build a unique castle and park, with 500 plant species from all corners of the world. The palace incorporates Manueline and Moorish architectural influences, that together will give you an atmosphere of “a thousand and one nights.”. An unforgettable experience.
Centro Historico de Sintra
In the center of Sintra you can either stay in the village, view the National Palace or walk to visit Regaleira (tickets not included). Also, a great option is to stay, and enjoy the wonders of this beautiful medieval little town, walking the narrow streets, feel the local atmosphere and then grab a coffee and try local pastry "Travesseiro".
What‘s Included
Pick-up and Drop-off Lisbon - city center hotels
Local Guide: great balance between guided tour and free time to enjoy
Pena Palace ticket (interior and Park) included, if option selected
Small group of 8, shared comfortable van (no big buses). WI-FI, AC
Regaleira optional ticket (please inform team, in case you wish to visit)
Food and drinks not included
Guided explanations can be provided at the exterior of the palace, with interior independent visit
Pickup points
Select a pickup point
Options
Pena Palace Interior & Park
Pena Palace: Ticket included to visit palace interiors and park, garden, terraces and chapel (most travelers choice)
Pickup included
Sintra & Coast Highlights
Visit to Pena Park (exterior): Pena Park views, Sintra historic center & viewpoints, Cabo da Roca, Cascais
Pickup included
Reviews
1,702 reviews
Total reviews and rating from Viator & Tripadvisor
Tour with Felipe
294ellerym,,Feb 14, 2026
- Review from Tripadvisor
5.00Felipe was a terrific guide! Informative, friendly and helpful. Highly recommend!
Excellent Day
ianaJ1716YO,,Feb 14, 2026
- Review from Tripadvisor
5.00Fantastic tour, David was extremely knowledgeable and had an answer for every history question we threw at him. My kids enjoyed it as well (14/10/7)
Best experience and friendly guide Filipe
Voyager51243240610,,Feb 13, 2026
- Review from Tripadvisor
5.00Very good trip and friendly guide Filipe
Knowledgeable Tour Guides
Ian A,,Feb 13, 2026
- Review from Viator
5.00David was fantastic. So knowledgeable and an all around great guy. We had a fantastic day (travelled with kids 14/10/7 and it was fine).
Pedro! Pedro! Pedro!
jlhazen,,Feb 12, 2026
- Review from Tripadvisor
5.00Pedro is brilliant! Could not ask for a better tour guide. He really cares about Portugal history/culture and is eager to share it all. Book this tour!
Pedro! Pedro! Pedro!
Jennifer H,,Feb 9, 2026
- Review from Viator
5.00Pedro is brilliant! Could not ask for a better tour guide. He is so nice and accommodating. He really cares about Portugal history/culture and is eager to share all of it. Book this tour!
Fantastic!
Anthony K,,Feb 9, 2026
- Review from Viator
5.00From Sintra to Cascais and all the places in between, I had the chance to discover so much on my trip and learn more about the history of Portugal. Pedro is very knowledgeable and he is honestly so passionate about telling his country’s history that there is no way you will not want to hear more. He always made sure we were good and talking with him was very easy. Seeing the places is great, but having a great tour guide is even better. Pedro was a great tour guide and a great person to be around for the day!
David our tour guide was great!
tinabJ9459HS,,Feb 8, 2026
- Review from Tripadvisor
5.00David was great! Really appreciated how he tried showing us other things since 2 of the things we had signed up to see were closed due to all the rain. David was very knowledgeable and personable.
Filipe is friendly and...
Lisa W,,Feb 8, 2026
- Review from Viator
5.00Filipe is friendly and very knowledgeable. He guided us through the palace with history background. He is prompt and gave us suggestions on local eateries. Highly recommend him as your guide tour.
Smooth and Enjoyable Day Trip to Sintra and Cascais
Q6225EZrakeshp,,Feb 8, 2026
- Review from Tripadvisor
5.00Had a wonderful day in Portugal today. David was an excellent driver and guide for our trip from Lisbon to Sintra and Cascais. The ride was smooth, comfortable, and well-paced. He was punctual, friendly, and very knowledgeable about the area, sharing helpful insights and local tips along the way. He made sure we had enough time at each stop which made the experience stress-free and enjoyable. Highly recommend David if you’re looking for a reliable and pleasant day trip experience.
From €59.00
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