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Lisbon: Sintra, Pena Palace, Cape Roca & Cascais Guided Tour
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Lisbon: Sintra, Pena Palace, Cape Roca & Cascais Guided Tour

5.0(10 reviews)
8 hour(s)
English
Skip the line
Lisbon, Portugal

Explore the fairy-tale Pena Palace and its enchanting gardens in Sintra

Discover the charming historic center of Sintra and its traditional pastries

Visit the vibrant coastal town of Cascais and enjoy a walking tour

Enjoy free time to wander Cascais’ beaches, shops, and streets at your leisure

Price start from

86

79.12

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Join a guided tour from Lisbon to explore the enchanting wonders of Pena Palace, the historic Sintra center, Cabo da Roca, and Cascais, experiencing a perfect blend of fairy-tale romance, natural beauty, and coastal charm. Begin your day by meeting your guide and driver at the Lanetours Meeting Point, then travel in a comfortable, air-conditioned vehicle as dawn breaks over the city. Discover the colourful Pena Palace nestled among Sintra’s lush forests, wandering its magical gardens and lavish chambers that seem straight out of a storybook. Enjoy free time to explore Sintra’s charming historic center at your own pace, with recommendations from your guide on must-see sights and local dining options to savour traditional Portuguese pastries like Travesseiro and Queijada. Continue to Cabo da Roca, the westernmost point of mainland Europe, where dramatic cliffs meet the Atlantic Ocean, offering breathtaking views and a powerful connection to nature. Then, explore the vibrant town of Cascais on a short walking tour, uncovering its rich history, charming beaches, and lively atmosphere before enjoying some free time to wander at leisure. As the day ends, reflect on the unforgettable sights and experiences while relaxing on the scenic drive back to Lisbon via Estoril, carrying with you lasting memories of Portugal’s stunning landscapes and cultural treasures.

Transportation in an air-conditioned vehicle

WiFi on board

Professional tourism driver

Entrance to Pena Palace ticket

Small personalized groups

Meals and beverages

Personal expenses

Gratuities (optional)

Comfortable walking shoes

Valid identification

Camera

Travelers with Limited mobility impairments
Families with children
Groups of friends
Physically fit travelers
Photography lovers

Arrive 15 minutes before departure to check in

Wear comfortable walking shoes

Bring a water bottle to stay hydrated

Confirmation will be received at time of booking

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Activity Provider: Lanetours

Customer Reviews

10 reviews
5.0
based on 10 reviews
M

Mary

October 14, 2025
GetYourGuide

Absolutely amazing. Igor our tour guide was superb and is highly recommended.

K

Kara

October 10, 2025
GetYourGuide

Andre was fantastic! He struck the perfect balance between sharing rich historical insights and giving us time to explore on our own. His energy and humor made the day fly by, and I was seriously impressed by how effortlessly he switched between English and Italian to keep everyone included. A top-notch guide and tour — highly recommend!

C

Christine

October 10, 2025
GetYourGuide

Vasco is a great guide. He is very knowledgeable and ensured that we had all that we needed on our trip. The trip itself was great. It's a good way of seeing the sights outside of Lisbon and it included enough time at each stop to grab some refreshments/lunch. Cascais is a lovely resort.

A

Anna

October 7, 2025
GetYourGuide

Excellent! Marco is the best tour guide! He was very informative, funny, easy going. He took us to the great local restaurant to eat with delicious food on the way to Sintra. He gave us many recommendations where to eat, what to see . I highly recommend him

J

Jay

October 6, 2025
GetYourGuide

Our day trip to Cascais, Cabo de Rocha and Sintra was incredible. Marco is a fantastic tour guide and so knowledgeable about the history of Portugal and everywhere we stopped. We enjoyed every moment and learned so much. We experienced new memories that we will never forget. Thank you, Obrigado !!!

H

Heather

October 27, 2022
Google

Andre is amazing! He managed our multi-language group of seven with ease and humour for our full day tour of Sintra. He built in time for coffee, toilet breaks and an enormous lunch. He not only showed us points of interest, he also told us the background and history behind them. Very knowledgeable. He took us to the best scenic vantage points and took pictures both of our group and individually at each of them. Result: smart time management + great photos. Brilliant!

R

Rachell

May 30, 2019
Google

Andre was an amazing tour guide. Spoke great English. The van had great AC and was very comfortable. It was myself and two other friends. He worked with our needs and the things we wanted to see, and then some. He is extremely knowledgeable of the history and Portugal as a whole. I would highly recommend this tour. We were able to avoid many crowds and it was hands free and care free. All around a great experience and well worth the money.

H

Helen

April 14, 2019
Google

This is our first time stopover in Lisbon, Portugal and we were so lucky to meet Andre from SPR Tours on the day of our arrival. Andre was such a nice guide, very professional and very knowledgeable. He knows inside out the city and all the touristic attractions. We were able to customize the tour and focus on our points of interest as well. Andre even went above and beyond our expectations, and showed us all the nice areas we would never be able to explore on our own. We even stopped by the famous bakery of Belem to try out those famous egg tarts. Our trip was so complete with Andre's guidance. We would definitely recommend Andre to our families & friends or anyone that want to have a tour with so much details and history in such a short period of time. We would not hesitate a second, to meet Andre again in the future for our upcoming exploration of Portugal. Such a beautiful country! Best Regards, Kim, Tan & Helen

L

Lucie

April 08, 2019
Google

We couldn't have been more happy with our tour. We booked Andre and his comfortable transport and then let him advise us of the best order of the day - he knew the busy times, where to park and tailored the Palace visits around our wishes. He is very professional whilst also warm and friendly. His knowledge of the area, the palaces, the coastal towns and lots of hidden gems of myths and legends, was exceptional. We weren't rushed and definitely got our value for money. Thank you Andre

C

Chris

January 16, 2019
Google

We were already enjoying exploring Lisbon on our own and on a hop/off bus tour and then we met Andre. And how lucky we were. Andre took us on a most wonderful half day tour of Lisbon that we could not possibly have achieved on our own. He has an incredibly detailed knowledge of this most wonderful city which he shared with us and we have now far richer insights into Lisbon, thanks to him. We stopped often, he explained churches, monuments, events in the city’s history. He showed us grand avenues, tiny cobbled streets and the most wonderful vistas of the city. He is also the most friendly, helpful guy you could possibly spend time with. We were so impressed and delighted with our afternoon together that it was a very easy decision to take a full day tour with Andre to Sintra, Cascais and the countryside and coast adjoining the city. Again, the same amazing stories to tell and knowledge to share. We’re going back in May and intend to spend more time touring with him. I wish there were more stars to award than five. He is an outstanding guide, worth every Euro (and more) and a most enjoyable guy to spend time with. If you’re going to Lisbon, seek him out.

Explore More Lisbon: Guided tour of Sintra, Pena, Cabo da Roca & Cascais
Explore More Lisbon: Guided tour of Sintra, Pena, Cabo da Roca & Cascais
Explore More Lisbon: Guided tour of Sintra, Pena, Cabo da Roca & Cascais
Explore More Lisbon: Guided tour of Sintra, Pena, Cabo da Roca & Cascais
+1
Day In a City

Explore More Lisbon: Guided tour of Sintra, Pena, Cabo da Roca & Cascais

Discover the wonders of Lisbon, Portugal with this unforgettable experience. Discover the beauty and history of Sintra, including the romantic Pena Palace, as well as the stunning coastlines of Cabo da Roca and Cascais on a full-day trip from Lisbon. Highlights of your tour include: Explore the fairy-tale Pena Palace and its enchanting gardens in SintraDiscover the charming h...