Cascais
Sightseeing Walking Tours

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Our most recommended Cascais Sightseeing Walking Tours

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 vehicle, and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

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

2. 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.

Lisbon: Full-Day Sintra Tour with Pena Palace

3. Lisbon: Full-Day Sintra Tour with Pena Palace

Experience the best of Sintra with a guided tour of Pena Palace, Cabo da Roca, Hell's Mouth, and Cascais village. Visit Colares, renowned for its winemaking, and soak up the views of the Portuguese coast. Explore the majestic and romantic Pena Palace, an astonishing fairytale castle, located on one of the highest peaks of the lush Sintra Mountain Range. At the end of the morning, stroll the streets of Sintra Village, which enchanted Kings and inspired poets. Enjoy local handicraft shops and tea-rooms to taste delectable sweets like "queijadas" and “travesseiros.” Then you'll travel to Cabo da Roca, the westernmost point in continental Europe. Relish scenic coastal views of Guincho Beach, a windsurfer's paradise, and Boca do Inferno, a famous seaside chasm with crashing waves, until we reach Cascais, a former fishing village which is now one of the richest municipalities in Portugal.

From Lisbon: Sintra and Quinta da Regaleira Tour

4. From Lisbon: Sintra and Quinta da Regaleira Tour

The driver will collect you from your address and drive to Quinta da Regaleira, the UNESCO World Heritage Site and one of the Sintra's principal tourist attractions. During the guided tour inside the monument discover the romantic palace, chapel and luxurious park featuring lakes, grottoes, wells, benches, fountains and a vast array of exquisite constructions. Next, take a short walk to historical center of Sintra passing by Lawrence's hotel, the oldest hotel in the Iberian Peninsula. Have free time for shopping, try teh local pastry, take pictures of the thousand-year-old National Palace or just enjoy a walk in the narrow Sintra streets. After, drive through the mountains and stop at Cabo da Roca, the westernmost point in continental Europe. The cliffs are 140 meters high and offer spectacular views of the wild coastline. Continue on with a drive by the coast that takes you to Guincho beach, and then to the elegant Village of Cascais. Take some free time and walk along the bay before returning to Lisbon or another drop off location.  

Sintra, Natural Park and Cascais Beaches: Full-Day Tour

5. Sintra, Natural Park and Cascais Beaches: Full-Day Tour

Sintra was selected by Portuguese royalty as the place to live. Experience the unique atmosphere of Sintra Natural Park and visit its stunning palaces and villas.  This full-day tour begins with a hotel pick-up in Lisbon and continues with a 30-minute ride to Sintra. The first stop will be Pena Palace, an architectural masterpiece in the European Romantic style. Next on the itinerary is a visit to Sintra Villa. Continue to Roca Cape, the westernmost point in Europe, and then to Guincho, a beautiful white sand beach. The last stop on the tour is Cascais, once a fishing village, and later a resort for European royalty. The Cascais waterfront is now considered the Portuguese Riviera.  

From Lisbon: Sintra and Pena Palace Tour

6. From Lisbon: Sintra and Pena Palace Tour

Benefit from pickup at your hotel in Lisbon, 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 pastries and take souvenir photos of the best-preserved medieval royal residence in Portugal, the 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. Stop at the village of Cascais and take some walk along the bay before the return journey to Lisbon.

Sintra - Cascais Estoril - Full Day Tour

7. Sintra - Cascais Estoril - Full Day Tour

The enchanting town of Sintra makes the westernmost point of continental Europe much more than a place of geographical interest. This full-day private tour will give you a perspective you can only get by standing on the edge of the world. Though it is only 30 kilometers from Lisbon, this place "where the land ends" has a fresh climate and luxuriant vegetation that combine with unique architecture and a legendary charm to make it deeply romantic and mysterious. The ancient Moorish Castle of Pena Palace, built atop a cliff and the National Palace in the town center contributed to Sintra being named a World Heritage Site in 1995. But long before that it inspired famous writers including Hans Christian Anderson and Lord Byron, who called it "the most beautiful [village] in the world." First, stop at Sintra village, a delightful Portuguese town that is situated within the hills of the Serra de Sintra. Concealed within these pine covered hills are extravagant palaces and opulent mansions. Pena Palace, once the summer residence of Portugal's royal family, is the next stop. It dominates the coast to Lisbon. After lunch, visit Cabo da Roca, the actual western tip of the continent, where turbulent waters crash loudly against rocks rising to 140 meters in height and offering a beautiful view of the wild coastline. Boca do Inferno (mouth of hell), a steep cleft where the waves hit harder and louder, is nearby. A visit to Cascais, a fishing village established in the 12th century and well preserved until today, is the last stop before returning to Lisbon.

From Lisbon: Full-Day Tour to Sintra and Cascais by Car

8. From Lisbon: Full-Day Tour to Sintra and Cascais by Car

Your guide will pick you up in a location of your choosing and will take you along the coast all the way to Cascais, stopping in Boca do Inferno, which is a rocky formation different from anything you've ever seen! From there, you'll be headed to Cabo da Roca to marvel at the view of the ocean, it was known as the end of the known world, the most western point of Europe. Afterward, it's time to have lunch by the coast so you can rest, enjoy some local seafood and be ready for the second part of your tour! You will be visiting two palaces in Sintra, Quinta da Regaleira and Palácio da Pena, both of these locations are filled with both history and myth, be ready to be smitten by the wonders of these magic-filled places. To finish your tour, you'll be taking a walk through the village of Sintra where you'll be able to enjoy the local pastries. After exploring Sintra your guide will drop you off at your desired location.

From Lisbon: Sintra Tour with Queluz Palace Entrance

9. From Lisbon: Sintra Tour with Queluz Palace Entrance

Explore the fantastic Palace of Queluz, built in the 18th Century, the official royal residence of King D. Pedro IV of Portugal. Visit the historic town of Sintra, a UNESCO World Heritage site. Admire the picturesque streets, the Sintra National Palace, the fountains, the churches, chapels, and shrines.  Climb to the Moorish Castle where the construction of the first sections of its wall dates from the 8th and 9th centuries. From the castle, you can enjoy a fantastic view of the whole region. Next, stop at the Pena Palace where you can admire a mix of architectural styles in the interior as well as in the exterior. Make sure to have your camera ready to capture the fantastic landscape surrounding the Palace. Discover the most westerly point of continental Europe and marvel at the fantastic view of the sea from the clifftops. Gaze at the beaches and the beautiful towns of Estoril and Cascais. Enjoy a tasting of the best regional wines at Colares in the cellars of Adega regional de Colares. On the way back, have the chance to enjoy this unique beach with its famous dunes. Finally, visit the charming town of Cascais, a former fishing village now filled with boutiques, restaurants, hotels, beaches, and more.

Cascais: Open Water Swimming

10. Cascais: Open Water Swimming

Enjoy the perfect combination of relaxation and adventure on this open-water swimming tour in Cascais. Meet your tour guide at Praia da Duquesa Beach for a quick safety briefing and introduction. Next, enjoy a brief warm-up then jump into the sea for an acclimatization swim nearby before beginning your adventure along the Cascais coast. Enjoy up to 1 hour of swimming time. Take in panoramic views of the Bay of Cascais as you swim in the company of your guide. Your guide will provide you with feedback throughout the tour and will take photos and videos which you can use to improve your technique. At the end of the tour, warm up with a hot mug of tea.

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What people are saying about Cascais

Overall rating

4.8 / 5

based on 221 reviews

The trip itself is amazing with all the history, agriculture, flora and monuments but Miguel helped it be an over the top experience. Very funny and quick witted!

Agnes and Paolo were excellent hosts and knowledgeable tour guides. Had a great time! Very friendly and would tour with them again!

excellant guide in Luis so flexible and accommodating. would definitely recommend this tour highly informative

We had a very good trip, very informative guide and good value

To see lot of different things under one day. 4 stops is ok.