Sintra, Roca and Cascais Full-Day Private Tour with Pena Palace Tickets
by Duca
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This private full-day tour lasts about 8 to 10 hours and covers key sites around Sintra and nearby coastal landmarks. It begins with a visit to Pena Palace, where pre-booked tickets allow you to enter without waiting. The guide plans the timing to avoid the busiest hours so you can view the palace’s colorful exterior and panoramic views comfortably. Next, the tour passes by Castelo dos Mouros, the 9th-century Moorish Castle walls that stretch across the mountain ridges. Your guide explains the castle's history here. You can request extra time to walk the ramparts, though the focus is usually on other Sintra attractions. Afterward, there is a one-hour visit to Sintra’s historic center. You walk the medieval stone streets, see the National Palace with its distinctive twin chimneys, and have a chance to try local pastries like "Travesseiros" and "Queijadas." The drive continues past the Monserrate Park and Palace, noted for their exotic plants and detailed architecture, before reaching Cabo da Roca. This cliff-top spot is the westernmost point of mainland Europe, rising 140 meters above the Atlantic Ocean with wide sea views. Then the route follows the coastline past Guincho Beach, known for surfing, to Boca do Inferno. Here you see the Atlantic waves pounding a collapsed sea cave. The tour ends with a scenic drive through the town of Cascais, admiring its historic fortress and 19th-century buildings on the Portuguese Riviera as you return to Lisbon. The tour includes private transport, a guide, Pena Palace tickets, WiFi onboard, air conditioning, and insurance required by Portuguese tourism regulations. Lunch and other monument tickets are not included.
Highlights
What's included
What's not included
Itinerary
Pena Palace
Begin with a 90-minute visit to Pena Palace, Portugal's main Romanticist landmark. Tickets are included to avoid waiting. The guide times the visit to reduce encounters with crowds, allowing you to enjoy the palace’s colorful details and views.
90 min
Castelo dos Mouros
Drive by the 9th-century Moorish Castle walls that stretch over the mountain peaks. The guide shares the castle’s history during this 20-minute stop. You can ask to walk the ramparts, though most focus on other Sintra sites.
20 min
Centro Historico de Sintra
Spend about one hour in Sintra’s historic center walking the medieval cobbled streets. See the National Palace with its twin chimneys and try local pastries named "Travesseiros" and "Queijadas."
60 min
Parque e Palacio de Monserrate
Drive past Monserrate Park and Palace, known for their exotic plants and detailed architecture, highlighting Sintra’s variety of styles.
Cabo Da Roca
Stop for 20 minutes at Cabo da Roca, the westernmost point of continental Europe. The cliffs rise 140 meters above the Atlantic, offering broad ocean views.
20 min
Guincho Beach
Follow the coast past Guincho Beach’s dunes, a popular surfing area, until reaching the next stop.
Boca do Inferno
Pause for 20 minutes at Boca do Inferno, where the Atlantic waves crash into a collapsed sea cave, showing the sea’s force.
20 min
Cascais
End with a panoramic drive through Cascais. View the old citadel and 19th-century architecture along the Portuguese Riviera as you return to Lisbon.
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Cancellation policy
- Cancel at least 24 hours before start for a full refund.
Additional info
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- Lisbon Hop-On Hop-Off Bus, Tram, and River Cruise Ticket for 72 or 96 Hours
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- Guided Day Tour from Lisbon to Sintra with Pena Palace, Quinta da Regaleira, Cabo da Roca and Cascais
- Lisbon 4-Hour Night Tour with Authentic Fado Show and Dinner
- Private Guided Day Tour to Évora and Monsaraz from Lisbon