Cabo da Roca

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Cabo da Roca: Our most recommended tours and activities

Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

1. Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

Escape Lisbon and go on a full-day, guided journey to some of Portugal’s most popular locations stopping at the iconic Pena Palace in Sintra, the awe-inspiring cliffs of Cabo da Roca, and the ritzy seaside town of Cascais. Choose between the shared tour or private tour options. Your journey from Lisbon starts at the famous city of Sintra, whose Romanticist architecture, historic estates and villas, and numerous royal palaces and castles have made it a UNESCO World Heritage site. Enjoy the freedom of choice on whether you want an included entry ticket and tour of the colorful Pena Palace, or whether you prefer to gain some extra free time instead. Arriving early at Sintra means greater chances of avoiding long lines if you choose to go with your guide on a comprehensive tour through its lavish interiors and lush gardens. Marvel at the palace’s fairy-tale-like appearance, beautiful facade and extravagant interior. Next, head over to the center of Sintra and get 1.5-hour of free time to wander on your own. Get recommendations of the city’s must-see locations as well as the best restaurant options for delicious traditional Portuguese dining from your guide. Continue to Cabo da Roca, the westernmost point of continental Europe, and take in the impressive views of the ocean crashing against the high rocky cliffs. If weather permitting, stop at Guincho beach, whose strong winds and high swells have made it a popular surfing destination. Lastly, arrive in Cascais, an elegant seaside resort town on the Portuguese Riviera. Stroll through the lovely city center and make sure to check out Cascais’ luxury marina, its charming fishing port, and a restored fort that houses many local craftsmen. After your free exploration time in Cascais, relax back on board your air-conditioned minivan, and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

Sintra and Cascais Small Group Tour from Lisbon

2. Sintra and Cascais Small Group Tour from Lisbon

Discover a glorious “Garden of Eden” on a full-day tour of Sintra, a paradise resort of fairytale palaces and ornate architecture just outside Lisbon. Discover why this charming village delighted poets, artists, and authors, including Hans Christian Andersen and Lord Byron. Your tour includes a look inside Pena Palace, designed in a magnificent mix of Manueline and Moorish styles. Learn how its exotic and eclectic profusion of styles follows the rules of Romanticism. Pass the Castle of the Moors and enjoy breathtaking views from its towers. Next, drive to Cabo da Roca at the westernmost point of mainland Europe. Look at the wild Atlantic Ocean from Guincho Beach, and keep your eyes open for surfers on the waves of the Estoril Coast. Stop in the former fishing village of Cascais, now part of the Portuguese Riviera and a place of exile for European royalty. Head back to Lisbon along the “Marginal” road, following the Atlantic to see white sand beaches and magnificent 17th-century forts.

From Lisbon: Sintra and Cascais Day Trip with Pickup

3. From Lisbon: Sintra and Cascais Day Trip with Pickup

Escape the hustle and bustle of Lisbon on a full-day tour of Sintra and Cascais. Discover the whimsical architecture of the town centers and Sintra Natural Park. Following a pick-up from your hotel in Lisbon, transfer by air-conditioned, 8-seat vehicle to the extravagant Pena Palace, perched on a rock that overlooks the coastline of Lisbon. Marvel at is a mix of Moorish and Manueline motifs, and enjoy panoramic views of the surrounding woods. Head to Cabo da Roca, continental Europe’s westernmost point, and get a souvenir certificate inscribed with the words "Where the Land Ends and the Sea Begins" by Camões. Pass the stunning beaches of Cascais, including Praia do Guincho, the most scenic beach on the Lisbon coastline. En route to Cascais, experience the mystery of the "Devil's Mouth” cave, created by the crashing of the waves on the rocky bluff. Stop in the elegant resort town of Cascais, a once quiet fishing village that was discovered by the European nobility for its idyllic setting, and became a favorite destination for the international jet set. Stroll along the harbor, before transferring back to Lisbon.

From Lisbon: Sintra, Cabo da Roca and Cascais Full-Day Tour

4. From Lisbon: Sintra, Cabo da Roca and Cascais Full-Day Tour

On this full-day tour you’ll discover Sintra, a UNESCO World Heritage Site. Admire the villa that’s surrounded by an amazing natural park, a castle, beautiful palaces and chalets. Take a walk along the medieval streets of Sintra an drive through the national park and see the rare fauna, the unique trees, the Moorish castle, Monserrate Palace and the chalets. Visit Pena Palace, one of the most impressive expressions of 19th-century Romanticism in architecture in the world and one of Portugal’s seven wonders. Say goodbye to Sintra with an optional visit to mystical Quinta da Regaleira, a palace surrounded by luxuriant gardens, lakes, caves and enigmatic constructions that hide obscure alchemist meanings, evoked by Freesmasons, Knights Templar and Rosicrucians. Continue on to the westernmost point of continental Europe at Roca Cape. Travel along the coast and embrace the Atlantic, and stop in Cascais and Estoril, once retreats for the royal family and the European aristocracy.

From Lisbon: Sintra and Pena Palace 5-hour Tour

5. From Lisbon: Sintra and Pena Palace 5-hour Tour

Benefit from pickup at your hotel, cruise terminal, or other location, and then travel to the UNESCO World Heritage monument of Pena Palace, one of the finest expressions of 19th-century Romanticism in the world. Marvel at the extravagant decorations and royal collections of the opulent interiors, and get amazing views from the rooftop cafe and terraces. You then head down to Sintra to enjoy some free time to shop or explore the historical center. Try the local queijada and travesseiro pastries, and take souvenir photos of the best-preserved medieval royal residence in Portugal at Sintra National Palace. Continue towards the historic estates of Seteais and Monserrate on the way to Cabo da Roca. Get panoramic views from the westernmost point of mainland Europe, and take souvenir photos of the surfers paradise of Guincho Beach. Visit the village of Cascais and take some free time to walk along the bay before the return journey to Lisbon (or other pickup point).

From Lisbon: Sintra and Cascais Small Group Full-Day Tour

6. From Lisbon: Sintra and Cascais Small Group Full-Day Tour

Depart Lisbon and journey by air-conditioned, 8-seat vehicle to Pena Palace atop a rock overlooking the Atlantic Ocean. Hear the romantic story of the palace and feel like a member of the Portuguese royal family. Then, head to Cabo da Roca for panoramic views from continental Europe’s westernmost point. Pass the stunning beaches of Cascais, including the scenic Praia do Guincho. Experience the mystery of the Devil's Mouth cave, created by the crashing of the waves on the rocky bluff. Stop in the elegant resort town of Cascais, favored by the nobles of Europe for its idyllic setting. Stroll along the harbor before traveling back to Lisbon.

From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

7. From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

Discover Sintra, so-called the “Garden of Eden” by Lord Byron. Tour its paradisiacal streets and gardens and admire the ornate palaces, villas, and estates throughout this colorful city. See Pena National Palace, famed for its romantic architecture and recognized as a UNESCO world heritage site. Located approximately 500 meters above sea level, soak up the stunning city views over Sintra. Continue to Sintra's Quinta da Regaleira and take a guided tour of the palace, lush gardens, lakes, grottoes, and enigmatic constructions. Learn about its connection with the Freemasons and the Knights Templar. Head to Cabo da Roca, the most western point of mainland Europe, passing Guincho Beach. Experience the Portuguese Rivera as you drive along the Estoril Coast and visit the village of Cascais. See why many exiled European royalty choose to live there.

From Lisbon: Sintra, Cabo da Roca & Cascais Ful-Day Tour

8. From Lisbon: Sintra, Cabo da Roca & Cascais Ful-Day Tour

This tour will take you to Sintra, a world heritage site, where medieval streets, castles, palaces, and chalets of diverse architectures coexist, inserted in a natural park that shows plants from diverse parts of the world, forming a vast and magical green forest.  On arrival at Sintra, beside the Centro Historico (Historical Centre), there are nearby a lot of interesting points to visit, such as, Sintra National Palace, the Pena Palace, Seteais Palace, Monserrate Palace, Parque Natural de Sintra and Quinta da Regaleira. Onwards, travel towards the Atlantic Ocean, to discover Cape Roca, the westernmost point of Europe. Travel along the sea and admire Guincho Beach enormous sand bed, which hosts many international surfing events due to gigantic waves. Pass through Cascais, and Estoril, both famous for their cosmopolitan environment, and finally visit Estoril’s worldly renowned Casino and beautiful gardens. Return to Lisbon driving along the Estoril Coast admiring the breath-taking sight of white sanded beaches along the way.

From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

9. From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

Escape noisy Lisbon on a visit to nearby sites of natural and architectural beauty. See Sintra's historic center, Pena, Cascais, and more on this day excursion. On this full-day tour, start off with a walk-in Pena Park. Feel like royalty in Pena Palace while your guide explains its history. Marvel at the views of the surrounding landscape and the Atlantic Ocean. If you choose the option without the Pena Palace ticket, enjoy free time in the old town of Sintra. Next visit Sintra's historical center. Enjoy lunch or visit the National Palace. Continue on with a drive through the Sintra Mountains. Stop at the great cliffs at Roca Cape, which are the westernmost point of continental Europe. The last stop of the tour is the stylish town of Cascais, where you can take a relaxing walk along the bay before heading back to Lisbon.

Lisbon: Full-Day Sintra and Cascais Tour

10. Lisbon: Full-Day Sintra and Cascais Tour

You will start your day at the front door of your hotel, where you will be greeted by your guide before traveling to Sintra in a comfortable 9-seater van. You will then have the opportunity to visit the mysterious and romantic town of Sintra, classified as a World Heritage Site by UNESCO. Once there, you can choose to visit one of the following monuments: - the Pena Palace (the best example of the Romanticism style in Portugal) - the Sintra National Palace (a Medieval royal residence) - the Monserrate's Park and Palace (an eclectic place where you can explore romantic gardens with exotic species) - the Capuchos Convent (known for its extreme bareness of its architectural and decorative elements) - the Moors Castle (a fortress located on the top of a hill) - the Regaleira Estate (one of the most magical views one can find in Sintra) In any case, you will be accompanied by your guide, who will provide you with full explanations about the sites. You will then have time to explore the center of the town and have lunch. You can ask your guide for recommendations of restaurants, before taking some time to stroll around the narrow streets of Sintra. Following lunch, it will be time to go to Roca Cape, the westernmost point of Continental Europe. Later, you will head to Cascais, a lovely town by the sea with an old fishing tradition. Here you will have time to see the town center, as well as the entire bay area. Before returning to Lisbon, you can take the chance to drive by Estoril, which used to be a place of refuge during World War II. To conclude your tour, you will go back to Lisbon by the "marginal", a road which connects Cascais to Lisbon and runs along the coast.

Other Sightseeing Options in Cabo da Roca

Want to discover all there is to do in Cabo da Roca? Click here for a full list.

What people are saying about Cabo da Roca

Overall rating

4.8 / 5

based on 11,967 reviews

Ok . DO THIS FOR AN AMAZING DAY for SINTRA!!!! From the driver, the fantastic bus (that was like new and super clean, to the guide !!! All outstanding in every way. We had Ricardo Machado... and he is the BEST! He made our experience the best one possible! We took the english tour with him because there was no more spanish available .. but hes soo fantastic he speaks Spanish , Portuguese... french & English and made my Mother feel so comfortable. Often explaining things in spanish and elaborating on the many questions we all had about this fantastic trip. The trip was Amazing , Enchanting ... the places breathtaking .. and it felt like stress free vacation ...He was funny witty and on top of everything so we felt like we could let loose and relax. Honestly ... I dont write reviews... but This tour had it ALLt.. even the driver was great...he wore a mask 100% of the time and the bus was clean .. he had available water and it was allCOVID Friendly.. Gracias!! will repete

This tour was absolutely beautiful and accompanied by an amazing tour guide! We had the best and explored all of the different sites while having ample time to take pictures and enjoy the food! Andre made us laugh the entire time and always made sure he got us to the great photo opt places! Would highly highly recommend this tour to anyone interested! Thank you Andre -Your Favorite Co-Pilots (&Willy)

André was a great guide who made this tour very exciting and fun. I had some issues with my phone at the Peña Palace but he tried his best to ensure that it was resolved. Thank you for a memorable experience!

Great tour with our tour guide Luis. Liked that we were a small group and our tour guide changed the sequence of our trip to get the most of our time and skipping the long queues.

A very helpful and friendly guide. Thanks for the trip