Small Group Tour: Sintra, Pena Palace, Moorish Castle & Cascais

Overview

Available languages

English

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.)

1 hour 40 minutes • Admission Not Included

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.

50 minutes • Admission Not Included

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

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

Without Tickets Included

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

5.00

14 reviews

Total reviews and rating from Viator & Tripadvisor

Brilliant Day
Brian T,Apr 17, 2026
- Review from Viator
5.00
What a brilliant day! Rodrigo, our tour guide picked us up and explained what we had to look forward to and nothing disappointed. His knowledge and expertise in explaining the history of Peña Palace and Moorish Castle was excellent. We loved our time in Sinatra and Cascais and enjoyed hearing many interesting facts about the areas. His recommendations to help us find places to eat were also appreciated, This tour is the whole package…brilliant guide, fantastic sights to see and learning so much about Portugal’s history and culture. Thanks Rodrigo.
What a perfect day in every way!
Kathryn k,Apr 13, 2026
- Review from Viator
5.00
What a perfect day in every way! Rodrigo’s knowledge and enthusiasm made this tour exceptional. Touring by van with a small group and attentive guide is exactly what we wanted. We learned so much! Pena Palace grounds and the Magnificent Moorish Castle were amazing as was Sintra and Cascais. We even stood on the westernmost point in Europe. What a perfect forever memorable day!
Rodrigo was top notch from the beginning
Cheryl F,Apr 13, 2026
- Review from Viator
5.00
True local, Rodrigo, was a spectacular guide and a great choice for a well planned out tour. From the moment I booked with him, he was very responsive and timely with all information which I really appreciated! In addition Viator indicated that I would have to select a central location for pick up, he immediately let me know that he could pick me up directly at my hotel location, which made it super convenient. He offered all of us a very long and extremely informative day! Giving of his time to ensure that all of us felt very informed during the entire tour. He gave a lot of very special and personalized help to one couple that was a little bit older and had some mobility challenges. He did this in such a way that for myself, who will just walk super fast, I really never felt like I was being put out because he made sure that we kept up a pace, but also tailored the needs to the mobility challenged couple. The tour began with a lot of great information both on Lisbon as well as the locations we were going to be seeing that day and a blow by blow of what the day would include. The tour of Peña Palace was spectacular both in ensuring that historical and creative details were specifically pointed out, but also made very leisurely in how he took us about the entire palace, including a nice coffee break at the end. We also thoroughly enjoyed the Moorish Castle which was toured on probably one of the windiest days of the entire year, but because of his insider knowledge, he was able to take us up and down a back path that got us to the very top for a really spectacular adventure. He was great about finding us a wonderful place for the group to commune for a meal at the end of the day and also a lovely place to grab pastries in the town of Sintra earlier in the day. He never rushed us. He gave of his time very easily and willingly, and we were all of us thrilled with the tour and our tour guide! I would totally recommend him for anyone that wants an above and beyond tour experience that is really tailored to anything you might want or need!
A fantastic day with a great guide!
Mike T,Mar 30, 2026
- Review from Viator
5.00
We really enjoyed this tour! It ended up being sort of a private tour as it was just my wife and I. Rodrigo was very knowledgable about the area and overall history of the region. He knew all the ins and outs of the locations we visited. At the Pena Palace, he spent extra time showing us around the beautiful gardens, pointing out the different types of fauna, often avoiding many of the other tourist groups. We never had to worry about where to go. In Sintra and Cascais, he had several great recommendations for where to find the best pasteries, lunch spots, and ways to avoid tourist traps. He even had great suggestions for Lisobon, where we were staying, even though it wasn't part of the tour. Overall, we had a great time and would highly recommend this guide and tour.
An exceptional guide
Steve G,Mar 28, 2026
- Review from Viator
5.00
Without hesitation I recommend Rodrigo to spend an incredible day!!!! Picked up directly at our hotel on time , he put us at ease from the first minutes. Very attentive to our expectations. They made us discover unexpected places more wow than each other in addition to those planned to ittinetaires. This was one of our most beautiful days during our stay in Portugal. You can't find a better guide for you to experience the history of Portugal
We had a great day with...
Elizabeth W,Mar 27, 2026
- Review from Viator
5.00
We 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
5.00
It’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
5.00
A 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
5.00
I 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
5.00
An 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.

From €74.00

5.00

(14 reviews)

Free cancellation

Check availability

Want a private experience? Upgrade to a private tour

Related Experiences

Operated by Hikesiders

Small Group Tour: Sintra, Pena Palace, Moorish Castle & Cascais

Overview

Available languages

English

8 hours

Mobile ticket

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

1 hour 40 minutes • Admission Not Included

Castelo dos Mouros

50 minutes • Admission Not Included

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

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

Without Tickets Included

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

5.00

14 reviews

Total reviews and rating from Viator & Tripadvisor

Brilliant Day
Brian T,Apr 17, 2026
- Review from Viator
5.00
What a brilliant day! Rodrigo, our tour guide picked us up and explained what we had to look forward to and nothing disappointed. His knowledge and expertise in explaining the history of Peña Palace and Moorish Castle was excellent. We loved our time in Sinatra and Cascais and enjoyed hearing many interesting facts about the areas. His recommendations to help us find places to eat were also appreciated, This tour is the whole package…brilliant guide, fantastic sights to see and learning so much about Portugal’s history and culture. Thanks Rodrigo.
What a perfect day in every way!
Kathryn k,Apr 13, 2026
- Review from Viator
5.00
What a perfect day in every way! Rodrigo’s knowledge and enthusiasm made this tour exceptional. Touring by van with a small group and attentive guide is exactly what we wanted. We learned so much! Pena Palace grounds and the Magnificent Moorish Castle were amazing as was Sintra and Cascais. We even stood on the westernmost point in Europe. What a perfect forever memorable day!
Rodrigo was top notch from the beginning
Cheryl F,Apr 13, 2026
- Review from Viator
5.00
True local, Rodrigo, was a spectacular guide and a great choice for a well planned out tour. From the moment I booked with him, he was very responsive and timely with all information which I really appreciated! In addition Viator indicated that I would have to select a central location for pick up, he immediately let me know that he could pick me up directly at my hotel location, which made it super convenient. He offered all of us a very long and extremely informative day! Giving of his time to ensure that all of us felt very informed during the entire tour. He gave a lot of very special and personalized help to one couple that was a little bit older and had some mobility challenges. He did this in such a way that for myself, who will just walk super fast, I really never felt like I was being put out because he made sure that we kept up a pace, but also tailored the needs to the mobility challenged couple. The tour began with a lot of great information both on Lisbon as well as the locations we were going to be seeing that day and a blow by blow of what the day would include. The tour of Peña Palace was spectacular both in ensuring that historical and creative details were specifically pointed out, but also made very leisurely in how he took us about the entire palace, including a nice coffee break at the end. We also thoroughly enjoyed the Moorish Castle which was toured on probably one of the windiest days of the entire year, but because of his insider knowledge, he was able to take us up and down a back path that got us to the very top for a really spectacular adventure. He was great about finding us a wonderful place for the group to commune for a meal at the end of the day and also a lovely place to grab pastries in the town of Sintra earlier in the day. He never rushed us. He gave of his time very easily and willingly, and we were all of us thrilled with the tour and our tour guide! I would totally recommend him for anyone that wants an above and beyond tour experience that is really tailored to anything you might want or need!
A fantastic day with a great guide!
Mike T,Mar 30, 2026
- Review from Viator
5.00
We really enjoyed this tour! It ended up being sort of a private tour as it was just my wife and I. Rodrigo was very knowledgable about the area and overall history of the region. He knew all the ins and outs of the locations we visited. At the Pena Palace, he spent extra time showing us around the beautiful gardens, pointing out the different types of fauna, often avoiding many of the other tourist groups. We never had to worry about where to go. In Sintra and Cascais, he had several great recommendations for where to find the best pasteries, lunch spots, and ways to avoid tourist traps. He even had great suggestions for Lisobon, where we were staying, even though it wasn't part of the tour. Overall, we had a great time and would highly recommend this guide and tour.
An exceptional guide
Steve G,Mar 28, 2026
- Review from Viator
5.00
Without hesitation I recommend Rodrigo to spend an incredible day!!!! Picked up directly at our hotel on time , he put us at ease from the first minutes. Very attentive to our expectations. They made us discover unexpected places more wow than each other in addition to those planned to ittinetaires. This was one of our most beautiful days during our stay in Portugal. You can't find a better guide for you to experience the history of Portugal
We had a great day with...
Elizabeth W,Mar 27, 2026
- Review from Viator
5.00
We 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
5.00
It’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
5.00
A 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
5.00
I 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
5.00
An 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.