Day Trips

From Lisbon: Sintra, Pena Palace, Cabo da Roca, Cascais & Quinta de Regaleira Full-Day Trip

Name: From Lisbon: Sintra, Pena Palace, Cabo da Roca, Cascais & Quinta de Regaleira Full-Day Trip
Start: 2026-06-14T08:00:00
End: 2026-06-14T16:00:00
Location: Lisbon

Pena Palace in Sintra, Portugal, with colorful towers and lush surroundings.

Traveler hiking towards Cabo da Roca lighthouse with Atlantic Ocean in the background.

Crowded Praia do Ribeiro beach with boats in the bay on a sunny day in Cascais, Portugal.

Beachfront in Cascais with people enjoying the sand and water, colorful buildings in the background.

Duration

8 hrs - 9 hrs 30 mins

Open today

Free cancellation

Free cancellation up to 41 hours before the start of your experience

Book now, pay later

Book now without paying anything. Cancel for free if your plans change.

Guided tour

Transfers available

Pickup available

Meals included

Indulge in a sumptuous meal as a part of your experience

4.8/5(313)

Guidolin C

Group

Verified booking

Last week

The tour was fantastic, with a charming atmosphere; going to Lisbon was well worth it, and including Sintra in the itinerary was the best part. Our guide, Antonella, was fantastic in every way—she was so welcoming, her explanations were very knowledgeable, and her friendliness made everything enjoyable. The tour schedule, including the breaks, was well organized. I highly recommend it to everyone

Samuel P

Couple

Verified booking

2 days ago

I highly recommend this tour: the village of Quascais, the village of Sintra, a walk to Pena Palace with Nelson’s wonderful commentary, and Regaleira Palace. With our fantastic bus driver, Claison. The guide, Nelson, speaks perfect French, is passionate about history, and answers all your questions. I highly recommend it ++++

Karina M

Solo

Verified booking

Last week

Not having to worry about the logistics of getting to the places and passing all of the long lines at the sights makes this worth it alone. Do yourself a favor and just do the tour and avoid the headache. The guides and the experience was seamless though. Well done.

Maria A

Solo

Verified booking

5 days ago

I loved the explanations given by our guides María and Camila. Without them, the experience would have been incomplete, since we learned so much about history and general culture. It’s an excursion you won’t want to miss!

Maria M

Solo

Verified booking

Last week

Our guides, María and Camila, were wonderful. They were so warm and welcoming, shared the history with us, and let us explore freely. It was a truly enriching experience!

Zafer T

Couple

Verified booking

Last week

Our guide Rute was amazing. Just because of her We could have participated on more tours, if We've stayed longer. Perfect explanations during the trip.

Travel from Lisbon to Sintra, Cabo da Roca, and Cascais in an air-conditioned vehicle with an expert guide for a seamless experience.

Explore Sintra’s iconic palaces, lush gardens, and mysterious tunnels with stories brought to life by your guide.

Wander the charming streets of Cascais, enjoy free time for seaside strolls, shopping, or sampling local cuisine.

Choose your preferred language and upgrade for Pena Palace, Pena Park, and Quinta da Regaleira tickets with guided visits for deeper discovery.

Full-day trip to Sintra, Cascais, and Cabo da Roca

Round-trip AC transfers from Lisbon

Free time in Sintra and Cascais

Live commentary from local expert

Guided tour of Pena Palace, Pena Park, and Quinta da Regaleira with entry (as per option selected)

Expert Portuguese, Spanish, French, German, Italian, and English-speaking guide (as per option selected)

Hotel pickup and drop-off

Food and drinks

TOTAL DURATION8 hours - 9 hours 30 minutes
MODE OF TRANSFERA/C Bus
Timeline
Map
Start point
Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
40 min by a/c bus
30.8 km
1. Pena Palace & Park
Tickets included (based on selection)
Step into a fairytale at Pena Palace, where vivid colors crown Sintra’s hills. Go on a guided tour through lush park trails, hidden lakes, and enchanted follies that feel straight out of a dream.
10 min by a/c bus
3.4 km
2. Sintra
Free Admission
11 min by a/c bus
4.4 km
3. Quinta da Regaleira
Tickets included (based on selection)
27 min by a/c bus
15.7 km
4. Cabo da Roca
Free Admission
16 min by a/c bus
11.3 km
Passes By
Guincho Beach
5. Cascais
Free Admission
7 min by a/c bus
4.7 km
Passes By
Estoril
End point
Rossio Square, Praça dos Restauradores, or Parque Eduardo VII
Your ending point would be same as your start point

You can cancel these tickets up to 41 hours before the experience begins and get a full refund.

313 reviews
How do we collect reviews?
These ratings include verified reviews from both Headout guests and our trusted partners who operate this experience locally. All reviews come from real travelers who've taken this experience.
261
34
15
2
1
Guests from United States, Italy, Spain and over 52 countries have loved this experience
What our guests say
Erick M
Couple
Verified booking
Last week
Being able to visit Sintra, Pena Palace, Cabo da Roca, Cascais, and Quinta de Regaleira in a single day. It’s understandable that this is a very fast-paced tour. However, I would have liked the tour staff to explain to everyone how important it is to be on time at each stop so as not to cut into the time allotted for the other sites. Sometimes people arrived 10–15 minutes late, and then the guide would cut our time short at the next stop. The organization at the start of the day, trying to find the tour bus, is complete chaos; there’s no identification on the buses with the company’s name, or in the case of booking through Headout, which is a third-party provider. The tour guide (Javier) is friendly.
Ines C
Solo
Verified booking
6 days ago
Nelson, our guide, is. A professional very knowledgeable guide. Very talented. Interacted with everyone with ease. Made us feel welcomed. The driver Clayson, was excellent, the ride was very smooth through narrow streets, and I don't even road. I did not feel unsafe ever. We were never rushed, they made to feel that the slower people in the tour were an inconvenience, as it is done other tours. Everything happened on time. Aunt, we were well informed and prepared our all our stops. I highly recommend the company and these guides. I highly recommend a tour.
Guidolin C
Group
Verified booking
Last week
The tour was fantastic, with a charming atmosphere; going to Lisbon was well worth it, and including Sintra in the itinerary was the best part. Our guide, Antonella, was fantastic in every way—she was so welcoming, her explanations were very knowledgeable, and her friendliness made everything enjoyable. The tour schedule, including the breaks, was well organized. I highly recommend it to everyone
Samuel P
Couple
Verified booking
2 days ago
I highly recommend this tour: the village of Quascais, the village of Sintra, a walk to Pena Palace with Nelson’s wonderful commentary, and Regaleira Palace. With our fantastic bus driver, Claison. The guide, Nelson, speaks perfect French, is passionate about history, and answers all your questions. I highly recommend it ++++
Malathy C
Group
Verified booking
6 days ago
The drivers were very sweet, but fell short when it came to giving us a history of where we were going. The tour clearly had Pena Palace and Quinta de Reglerira on the itinerary, but the driver just dropped us off at Sintra center and told us we were on our own for the rest of the day.

What to bring

Wear comfortable walking shoes and weather-appropriate clothing, as the tour involves walking and outdoor activities.

A child safety seat must be brought if travelling with a child, as bus providers do not supply baby seats.

Pack your sunhat, sunglasses, SPF, and water bottle to beat the heat, especially during summer.

What’s not allowed

Large bags, suitcases, and oversized luggage are not allowed inside the palaces or on the tour bus.

Pets are not permitted, except for registered service animals.

Accessibility

This experience is not wheelchair accessible.

The tour is stroller and pram accessible.

The tour involves a moderate amount of walking and uneven surfaces, which may not be suitable for guests with limited mobility.

Additional information

It is recommended to book with tickets included when possible, as entry cannot be guaranteed for walk-up purchases, particularly for Pena Palace (Interiors) and Quinta da Regaleira.

Food and drinks are not included; you will have free time in Cascais for lunch and personal exploration.

Tour guides speak only in your selected language and are not bilingual.

Unexpected closures of palaces may occur due to adverse weather conditions or local festivals; an alternative route will be offered in such cases.

The meeting point details will be emailed to you; make sure to arrive at least 20 minutes before the tour begins. Late arrivals will be considered a no-show and won't be eligible for a refund.

Your voucher will be emailed to you instantly.

Display the voucher on your mobile phone with a valid photo ID at the meeting point.

Please arrive at the meeting point 15 minutes before the scheduled time of your visit to avoid any delays.

Meeting point

Please check your final voucher for the meeting point details and other specific instructions.