Lisbon to Cabo da Roca

Lisbon to Cabo da Roca day trips take you from the energetic capital of Portugal to the westernmost point of continental Europe. Seamless round-trip transfers add the icing on the cake, making for a stress-free experience.

Loved by over 53 million guests worldwide

Slide 1 of 10, Pena Palace in Sintra with colorful towers and a winding path lined with greenery.

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

8 hrs

3 more

A comprehensive tour of Sintra’s historic center and the Pena Palace within it, ideal for anyone looking to dive into their rich history.
Travel in comfort with round-trip transport, guided visits, and scenic photo stops across the tour.
Discover Sintra’s UNESCO-listed palaces, dramatic cliffs at Cabo da Roca, and the vibrant seaside charm of Cascais.
Enjoy free time to explore local shops, sample regional cuisine, or simply soak up the atmosphere in Guincho Beach.
Make the most of your visit! Upgrade for Pena Park access or get complete entry to both the palace interiors and scenic park trails.

More details

A comprehensive tour of Sintra’s historic center and the Pena Palace within it, ideal for anyone looking to dive into their rich history.
Travel in comfort with round-trip transport, guided visits, and scenic photo stops across the tour.
Discover Sintra’s UNESCO-listed palaces, dramatic cliffs at Cabo da Roca, and the vibrant seaside charm of Cascais.
Enjoy free time to explore local shops, sample regional cuisine, or simply soak up the atmosphere in Guincho Beach.
Make the most of your visit! Upgrade for Pena Park access or get complete entry to both the palace interiors and scenic park trails.

from

€66

Slide 1 of 11, Quinta da Regaleira palace with ornate facade and lush gardens in Sintra, Portugal.

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

8 hrs - 9 hrs 30 mins

3 more

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.

More details

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.

from

€38.72

Similar things to do in Lisbon

Pena Palace in Sintra, Portugal, with colorful towers and scenic forest backdrop.

Lisbon To Sintra Toursfrom €135

Browse by themes

Landmarks in Lisbon

Day Trips From Lisbon

Cruises in Lisbon

Lisbon City Cards

Guided Tours in Lisbon

Hop-on Hop-off Tours Lisbon

Transportation in Lisbon

Travel Services in Lisbon

Food & Drink in Lisbon

Entertainment shows in Lisbon

Adventure in Lisbon

Water Sports in Lisbon

What our guests say

Andres F

Spain

Couple

Jun 2026

An incredible tour—from the places we visited to the guide, everything was perfect. I highly recommend it if you're in Lisbon. Thank you!!

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

Guidolin C

Italy

Group

Jun 2026

+3 more

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

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

Diane A

United States

Solo

Apr 2026

+1 more

Excellent tour with great guides! The day was well organized, the very large group at meeting spot at Rossi Square was broken up by language groups, then broken down again into smaller ones (two, in my case case for English) for the comfortable bus ride to Estoril & Cascais, then onto Sintra. The guides spoke English well, were informative & pleasant. Both castles were incredibly beautiful with fascinating history. Highly recommended -wonderful day.

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

Aruzhan R

Poland

Solo

Apr 2026

+6 more

This day trip is one of my highlights of my vacation to Portugal! I was picked up by bus early in the morning, and our first stop to Caba da Roca left me feeling both empty and full. Seeing the end of the world with my own eyes, looking at the endless ocean's waves hitting the rocks made me hypnotized. I would honestly prefer to have more time on this part of the trip, maybe 10 minutes more. That would've been perfect :) And Sintra... It is literally a fairytale city, full of its own legends, traditions and their own pastries. As a guide Maira is incredible. She takes time to explain everything, answer all the questions, and even pull funny jokes in between describing the legend. Overall, thanks to headout I now know a city which I'd love to revisit, and I will definitely come back to see Caba da Roca sometime soon. Everything was very convenient, clear and interesting

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

Rocco C

United States

Couple

Apr 2026

This was my first time doing a guided tour trip, the guides were very kind and great story tellers. The whole trip was clear and well organised, I was surprised how comfortable I was during the whole trip. By the end of the day I wanted to book an other tour. Would definitely recommend to anyone.

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

Nearby cities to explore

See all

Things to do in Portimao

Portugal