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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, Regaleira, Cape Roca, and Cascais Tour

2. 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.

Lisbon Coast Guided Kayak Tour

3. Lisbon Coast Guided Kayak Tour

Experience the beautiful coast of Lisbon and see its historic coastal castles by kayak. Learn the basics of paddling and other techniques to make your experience as fun as possible. Paddle from Oeiras Harbor in the western part of the metropolitan area and see some of the most famous beaches, such as Praia de Carcavelos. Marvel at Saint Julian's Fort and the castles of Santo Amora and São João das Maias from the water. Discover the sheltered beach of Praia das Fontainhas along the way. Cool down with a dive in the crystal clear waters. Choose the length of your tour to suit your schedule, subject to the weather conditions, and benefit from the services of experienced guides, certified by the Portuguese Canoe and Kayak Federation.  

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

4. 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.

From Lisbon: Sintra Full-Day Trip

5. From Lisbon: Sintra Full-Day Trip

Get out of the city and explore fairytale Sintra with a friend on this full-day tour. See the romantic Pena Palace and the mysterious Quinta da Regalheira. Explore the portuguese riviera Cascais and Estoril. Meet your guide by the reception of your Lisbon hotel, and enjoy the relaxed ride through the suburbs of Lisbon. In Sintra, begin your tour in the picturesque park, which forms the heart of the UNESCO Cultural Landscape. Explore the Pena Palace and its elaborate gardens, the ancient home the portuguese millionaire Augusto Carvalho Monteiro called Quinta da Regalheira. Get a panoramic view of Lisbon and the Atlantic Ocean from the Pena Palace. Visit the westernmost point of continental Europe, Cabo da Roca. Return to Lisbon through the busy Riviera towns of Cascais and Estoril.

From Lisbon: Sintra, Cabo da Roca, Cascais, & Estoril Tour

6. From Lisbon: Sintra, Cabo da Roca, Cascais, & Estoril Tour

Enjoy a day trip from Lisbon to Sintra, Cabo da Roca, Cascais, and Estoril. Stop at Pena Palace in the Sintra Mountains and at the palace of Quinta da Regaleira. See the first casino in Portugal in Estoril. Be picked up from the comfort of your accommodation in Lisbon. Relax on the drive to Pena Palace in the Sintra Mountains. Spend some time admiring the vivid colors and 19th-century Romantic architecture of this national treasure. Head to the UNESCO World Heritage-listed historical center of Sintra. Walk through the narrow cobble stone streets and see the charming shops and restaurants. Take a stroll through the Quinta da Regaleira palace park which features lakes, grottoes, wells, fountains, secret passages, mystical symbolism, and a freemason initiation well. Next, travel to Cabo da Roca to see the dramatic coastline a the westernmost point in continental Europe. Continue to the seaside resort town of Cascais. Explore the romantic old buildings in this area which was once a popular summer destination for royals. Finish the tour by passing through the Portuguese Riviera town of Estoril. View the local casino which was thought to be a gathering place for spies in WWII. This inspired the James Bond novel 'Casino Royale.'

Cascais: 2- or 4-hour Sailing Tour

7. Cascais: 2- or 4-hour Sailing Tour

Start your cruise from Cascais, where you can adapt your route according to your preferences. Enjoy the beautiful coastline aboard a new sailboat.  Sail to Cabo the Roca, the most western point of Europe, or relax along the beautiful white sandy beaches of Cascais, Estoril, Parede, Carcavelos, and Oeiras. Drop anchor, enjoy the sun and swim in the clear blue seas. Another suggestion is to sail along Cascais Coast up to Lisbon and visit one of the most beautiful cities in Europe. From the sailing boat, you will have the opportunity to see Lisbon´s most famous monuments and views.

From Lisbon: Sintra, Cascais and Estoril Tour

8. From Lisbon: Sintra, Cascais and Estoril Tour

Sintra is mysterious and reveals itself from afar. Start your tour in the Moon Hill with a visit to Pena Palace. Built on a unique place of cult, it shows itself in all its cheerful colors and architectural richness as one of the greatest exponent of Portuguese Romanticism. Visit the village of Sintra with its three thousands of years of history charm. Wander through the town and enjoy the verdant hills, the bubbling springs of crystal-clear water, the parks covered in multitudes of flowers. Enchanted castles spread all over Serra da Lua and in each corner there’s a story to tell.  Continue the tour in Cascais, a near sea village where you can enjoy free time to wander the old streets and do some shopping.

Cascais: 2-Hour Sunset Cruise

9. Cascais: 2-Hour Sunset Cruise

Start your 2-hour sunset cruise from Cascais, where you can adapt your route with the crew according to your preferences. Sail towards Cabo the Roca, the most western point of Europe, or relax along the beautiful white sandy beaches of Cascais, Estoril, Parede, Carcavelos, and Oeiras. Sit back, relax and let yourself truly unwind as the sun slowly sets on the horizon. As you sail, discover the stunning shores and ancient fortifications along the coast and sip on tasty drinks onboard. Admire the spectacular sights of Cascais from its picturesque waterfront and finish your cruise refreshed and invigorated.

From Lisbon: Sintra, Cado da Roca, Cascais & Estoril Tour

10. From Lisbon: Sintra, Cado da Roca, Cascais & Estoril Tour

Sintra leaves most visitors with a feeling of mystical enchantment. Its magical palaces, forests, Moorish castle and UNESCO World Heritage site city center are like a page from a fairy tale. You will start with a little walk through the mysterious Pena Park and discover secret caves and trails. Afterwards you will visit National Pena Palace, a marvelous palace from the 19th century that is also one of the most important examples of the Portuguese architecture from the Romantic period. Then you will head to the historical center of Sintra, where you’ll have free time to explore and to visit National Sintra Palace. After lunch, you will drive through the natural wonders of Sintra Natural Park, passing by several impressive palaces until you stop at the Roca Cape cliffs – the westernmost point of Continental Europe. Next you will take you for a scenic drive along the Atlantic coast; you will stop at the Guincho Beach (a surfer’s paradise) and afterwards pass by Boca do Inferno (Hell’s mouth cliff). Finally, enjoy a leisurely walk along the bay at the glamorous town of Cascais. Drive along the coast to Lisbon passing by Estoril and the casino.

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What people are saying about Estoril

Don't miss going to Sintra - it was a real highlight of our Lisbon holiday and this was a well-organised trip. Our guide Max was excellent; so friendly and informative; and the group size was good - we were in a minibus for about 20/22 people. It was a very comfortable bus. We arrived early at the Palace and so the queue to get in was not long. It is an amazing building. Max took us on a tour but then we also had some free time to explore. Our bus took us down to Sintra where we had time for lunch and to explore the shops there. We also stopped at Cabo da Roca which is very windy! We then had some time in Cascais which is a pretty seaside resort.

Excellent tour and experience! Diego was very knowledgeable, professional, friendly, and helpful. The bus driver was very nice and the bus was very clean and comfortable. Fantastic!!

This was our first day trip on any vacation and we thoroughly enjoyed it. Visiting these places on our own would have been a nightmare and cost much more.

such an amazing experience. goncalo and filipe were, in one word, legends!! would recommend this trip to anyone who visits Lisbon!

Very well planned trip! Beautiful and everything as I expected! :)