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Walking tours

Our most recommended Estoril Walking tours

Lisbon: Full-Day Sintra Tour with Pena Palace

1. 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, 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.  Reach Cascais, a former fishing village, which is now one of the richest municipalities in Portugal.

Lisbon: 3-Day Private Tour

2. Lisbon: 3-Day Private Tour

Day 1: On the first day of your private adventure, discover many of the historic sights that Lisbon - Portugal's capital city has to offer. First, see Saint George's Castle, one of the few vestiges of Arabic culture in the city. Admire the building which has witnessed multiple reconstructions since Roman times and is today one of the most visited monuments in the country. Then, head over to Alfama, the oldest quarter in Lisbon. Discover the small alleyways of the Medina which acted as the perfect defensive system during the 8th to 12th century. Continue into Lisbon's downtown Baixa neighborhood and learn about the terrible earthquake of 1755 which influenced Portuguese history and architecture forever.  Finally, explore the Belem or Bethlehem district to the west of central Lisbon. Marvel at how this area combines historic monuments, fascinating museums, and attractive gardens, all of which line the cooling waters of the Tejo Estuary. See the place where the shipyards and harbors used to be from where Portuguese explorers in the 15th-century set out to discover sea routes to India, Africa, and Brazil. Day 2: On the second day, visit the enchanting small village of Sintra which boasts a great concentration of historic palaces and interesting monuments. Your guide will give you information about all of the attractions you can visit and the choice is yours for what you would like to see. Then, head to Cabo de Roca - the most western point in Europe. Marvel at 165-meter-high Lighthouse which dates back to 1772. After this, continue to the beach town of Cascais, known for its picturesque streets and fishing village charm. Stop at one of the many restaurants serving fresh seafood. Return to Lisbon taking the coast road with stunning panoramas of the sea and Estoril. The town is known for its famous casino which boasts the largest gambling room in Europe and was made famous by Ian Fleming's Jame Bond novel 'Casino Royal'. Day 3: On the final day of your tour, set off to explore the Sanctuary of Fatima. Here, find various chapels including the Chapel of the Apparitions and have the option to attend a Mass. Visit the Monastery of Batalha another important landmark in the history of Portugal. Next, continue on to the scenic village of Nazare which has an intense past that is best portrayed in its architectural heritage. Admire the many picturesque churches and traditional houses. Lastly, explore the UNESCO World Heritage Site of Obidos. Step back in time, as you walk through the beautiful and narrow streets full of traditional shops, and white painted old houses. Return to Lisbon where your 3-day experience concludes.

From Lisbon: 5-Day Private Portugal Tour

3. From Lisbon: 5-Day Private Portugal Tour

Day 1: Lisbon Spend a full day exploring Portugal's charming capital city. Take a guided walking tour and become acquainted with one of Europe's most fascinating cities. With your informative guide, see and learn about some of this city's most famous historical landmarks. Return to your hotel in Lisbon and stay overnight (not included).   Day 2: Sintra, Cascais, and Estoril On the second day, visit Sintra, the Portuguese Aristocracy paradise and discover the charm of its narrow alleys and the typical shops. Visit a local pastry shop where the famous sweets Queijadas de Sintra and Travesseiros de Sintra will be waiting for you. Then, customize your tour and choose from the many palaces to visit in the area, including Quinta da Regaleira and Moorish Castle Palaçio da Pena. Later, visit the geological formation of Cabo da Roca, also known as "The Snout of the Rock" or "Promontory of the Moon," and marvel at the unimaginable beauty of the area. Next, it's time to explore Cascais, an ancient fisherman village turned beautiful and cosmopolitan beach resort. Return to your hotel in Lisbon and stay overnight (not included). Day 3: Lisbon, Fatima, Coimbra, and Oporto On the third day, escape the bustle of Lisbon and head out to Fatima, where you'll visit three places of interest and attend a mass (optional). Then, make your way to Coimbra and start the tour of the city at the oldest University in Europe. See the highlights including the Joanine library, built in the XVIII century on the grounds of the former prison of the University and marvel at one of the most beautiful libraries in the world, Then, transfer to your hotel in Oporto and stay overnight (not included). Day 4: Oporto and Gaia Start your day tour of Oporto at the central Avenida dos Aliados, a famous spot for celebrations and events. Admire the imposing Oporto Municipal Council building. Walk around the city center and past the Lello Bookstore with its renowned staircase, known for its link to the Harry Potter series. Then visit Gaia, a hub of the port wine industry where the wine is being aged in hundreds of different cellars. Visit a local winery, where you will be shown the various aspects of winemaking and also taste some of the best wines in the world. At the end of your day, return to your hotel in Oporto and stay overnight (not included) Day 5: Douro Valley Check-out at your hotel in Oporto and take your luggage with you as you will be taken to the airport in Lisbon or Oporto at the end of the day (if desired). The day starts with a visit to Amarante in the Douro Valley, where you can see numerous examples of the Romanesque and medieval buildings. Then, stroll along the S. Gonçalo bridge and enjoy some of the most popular sites of the city, including the Church and Convent of São Gonçalo and the Amadeo de Souza-Cardoso Museum. Next, head over to the market where you see vendors selling the delicious S. Gonçalo sweets, always a source of curiosity and great laughter due to their phallic appearance.

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What people are saying about Estoril

The tour overall was quite good, but I would've liked more time to explore Pena Palace and Cascais. Cascais is a beautiful town and 40 minutes isn't enough. The tour starts in Cascais (40 minutes) then proceeds to Boca de Inferno (15 minutes or so) then Cabo de Roca (20 minutes or so) before going to Sintra for lunch. There's around 90 minutes for lunch before the tour of Pena Palace which in total was around 2 hours. The tour guide was knowledgable and enthusiastic, the driver was also very friendly so no fault of theirs, but just a little more time to explore Pena and Cascais would've been awesome. I also recommend making the size of the groups smaller, 20+ is too many for places like Pena Palace.

Good day out with good tour host. Coach broke down but not a problem and issue was quickly resolved. All in all a good day out

Worth. The Katerina guide has done very well. An excursion that cannot be missed.

nice discovery with Luisa as a very competent guide, pleasant and friendly

Maria is a great guide and her English and French are outstanding