Small Group Tour: Sintra, Pena Palace, Moorish Castle & Cascais
Overview
Available languages
8 hours
Mobile ticket
Many travelers choose this small-group day trip from Lisbon to see Sintra, Cascais, and the Portuguese coast with fresh eyes. Whether it’s your first visit or a return trip, this immersive experience gives context and meaning to Portugal’s landscapes, history, and culture. Unlike typical tours that rush through sights, this journey is designed for curious travelers and couples who want time to explore, reflect, and connect.
Start in Sintra, visiting the vibrant Pena Palace and historic Moorish Castle, while uncovering the stories and legends behind these iconic landmarks. Take a scenic walk to a hidden mountain viewpoint, where the Atlantic Ocean crashes against dramatic cliffs, perfect for photos or quiet reflection. End in Cascais, a charming fishing village turned elegant resort, wandering backstreets, exploring artisanal shops, or relaxing by the marina like a local. This tour blends iconic sights, authentic experiences, and the freedom to breathe.
Additional Info
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
Cancellation Policy
For a full refund, cancel at least 24 hours before the scheduled departure time.
What To Expect
National Palace of Pena
Pena Palace is not just colorful — it’s expressive. We approach Pena as a viewpoint, a vision, and a moment, focusing on: -The dramatic setting -The meaning behind its design -The panoramic views that make visitors fall silent You’ll have time to explore and take in the landscape without feeling hurried. (Interior visit optional depending on ticket choice and conditions.)
Castelo dos Mouros
The Moorish Castle in Sintra is a medieval fortress built in the 9th–10th century during the Muslim occupation of the Iberian Peninsula. Perched high on the Sintra hills, it offers breathtaking panoramic views of the town, the Atlantic coast, and the lush forests of the Serra de Sintra. Its ancient stone walls, towers, and winding paths tell the story of centuries of conquests and cultural influences, making it one of Sintra’s most atmospheric landmarks.
What‘s Included
Hotel pickup included
Panoramic photo stops with the best views on the way
Small Group Experience - Max 5 guests for a more personal, relaxed vibe
Transport by air-conditioned van
A different pace: more time to explore and relax instead of rushing
Optional Pena Palace & Moorish Castle Tickets (depending on selection)
Lunch
Gratuities
Pickup points
Select a pickup point
Options
Without Tickets Included
Pickup included
Pena Park and Moorish Castle
Pena Park: Access to the Park, Chapel, Terraces & Palace Grounds (Interior Rooms Optional Visit, not included) + Moorish Castle Tickets
Pickup included
Palace Rooms & Moorish Castle
Pena Palace: Ticket included to visit Palace interiors (Free time) & Moorish Castle (Both Guided, with explanations)
Pickup included
Reviews
11 reviews
Total reviews and rating from Viator & Tripadvisor
We had a great day with...
Elizabeth W,Mar 27, 2026
- Review from Viator
5.00We had a great day with Rodrigo. He was knowledgeable, friendly, and genuinely interested in giving us a good experience. The small group format meant we had the chance to customize our tour and spend as much time as we wanted at the various sites. I would definitely recommend this tour and guide.
Great job ! Rodrigo! The best experience we have in Lisbon!
Sumalee L,Mar 20, 2026
- Review from Viator
5.00It’s our first time in Portugal and we chose this program as it was exactly what we wanted (Sintra, Pena Palace, Moorish castle and Cascais) !. We love history and wanted someone to provide information and knowledge on history of the places. We are so impressed by Rodrigo’s ability and experience as a professional tour-guide! Rodrigo is polite, on time and speaks excellent English! We enjoyed listening to the story he told us and couldn’t believe that time flies so fast!! It’s a really good time for us and we want to thank Rodrigo for his great job! Highly recommend! Look no further, Rodrigo is the best!
Cannot recommend highly enough!
Andrew H,Mar 16, 2026
- Review from Viator
5.00A pleasure from start to finish. Our guide Rodrigo was friendly, polite and extremely knowledgeable. Nothing was too much trouble and we really enjoyed his company, and obvious enthusiasm for the wonderful places we explored with him. If you are visiting Lisbon we highly recommend this tour with Rodrigo and his company Hikesiders.
Unexpected Private Tour
Marcela H,Mar 16, 2026
- Review from Viator
5.00I was lucky enough to be the only one who had booked this tour, and Rodrigo, a super nice guy, didn’t cancel on me but instead gave me a private tour! He was on time, very polite, and very knowledgeable about Sintra and everything I asked him. I really recommend visiting the Moorish Castle (I’m not sure why some people skip it) and taking time to enjoy the gardens. Rodrigo also recommended a really nice seafood restaurant in Cascais. Overall, I was very happy with the experience and would absolutely recommend it! 😊
Magical experience
arnisc2020,Mar 15, 2026
- Review from Tripadvisor
5.00An absolutely magical experience. Rodrigo is one of the best tour guides i have ever had. Knowledgeable about the places we visited, the history of Portugal and a very friendly and positive person. He was looking after us with great care. Offered enough time to truly enjoy every stop we made. We had a chance to enjoy amazing views of Sintra, Moorish Castle and Peña Palace, we had the chance to see the Atlantic ocean from a great viewpoint and we were suggested by Rodrigo a wonderful place to eat our lunch. Overall a 100/10 experience and highly recommended to everyone. Especially if this is your first time taking a tour guide, you will be taken care of and you will feel very great at the end of the day. A word of advice, get comfortable shoes and take some jacket in case it is very windy up in the Castle.
Informed, Skilled and Funny
helenbU2928BG,Mar 6, 2026
- Review from Tripadvisor
5.00Rodrigo was a 6/5 tour guide. He went above and beyond at every turn to make the tour an exception experience. I left feeling more informed, rejuvenated with the most beautiful nature walk/hike, and well fed based on his recommendations while laughing through the rain. If he decides to switch careers in the future, he also makes a skillfull photographer.
Scenic views, gorgeous palaces, great shopping, and delicious Portuguese food
Chelsea L,Mar 5, 2026
- Review from Viator
5.00Had an amazing day exploring with Rodrigo. He was extremely knowledgeable about the history of the areas we visited and on Portugal’s history. All of the sights were incredible and there was plenty of time to explore on our own and take photos. 1000% recommend taking the time to do a day trip to do this tour. There was some of the best shopping I did in Portugal along the way. Wear comfy shoes.
Nice place to visit.
RODEL S,Jan 11, 2026
- Review from Viator
5.00Be ready to hike uphill and downhill, if you want to see the Peña Palace garden and the Moorish Castle. It's worth to walk to see those places.
10/10
corymZ8703KP,Nov 21, 2025
- Review from Tripadvisor
5.00Rodrigo was an incredible tour guide. He picked us up on time. Was very knowledgeable and kind. I would absolutely recommend his tours to anyone visiting Lisbon! We loved all of his recommendations and tips.
From €74.00
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Operated by Hikesiders