Palace tours · LISBON PALACE TOURS

Lisbon in 15 Palace Bookings, Half of Them Up the Line in Sintra

48 tours  ·  from $34 a head

Half the palaces people come to Lisbon for are actually in Sintra, forty minutes up the line. These 15 cover both, with prices, pickup points and how much of the day the hill takes.

Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip - The morning ride from Lisbon to Sintra
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Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

1.Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

★★★★★★★★★★4.7 · 9,981 reviews · from $91Our pick

Spend eight hours with a guide and air-conditioned vehicle visiting Pena Palace, Sintra, Cabo da Roca, and Cascais. You get palace gardens, Sintra free time, Atlantic cliffs, and a coastal town, with guides such as João, Paulo, Inês, and Hugo leading shared or private tours.

“It was an amazing experience. The guide was so knowledgeable, well spoken and very engaged. What I loved the most about the trip was the accurate timeline. I would recommend this guide.”

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Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais - Sintra old town and a proper pastry break
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Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais

2.Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais

★★★★★★★★★★5.0 · 3,559 reviews · 8 hours (approx.) · from $67Top rated

Travel from Lisbon in an air-conditioned minivan with up to eight people. Guides such as Sara, Gustavo, Pedro, and Tiago lead you through Sintra, Pena Palace, Cabo da Roca, and Cascais, with time for pastries, photos, shopping, and lunch. Palace admission costs an extra €20, paid to the guide.

“Easy way to explore Sintra, Gustavo was funny and made us feel comfortable. However I wish that he also gave us a tour within the Pena Palace (to explain each room etc), not just outside the palace.”

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Sintra to Cascais: 2 Palaces, 4 Sites, Small Group 10 Hour Tour - Pena Palace before the crowds
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Sintra to Cascais: 2 Palaces, 4 Sites, Small Group 10 Hour Tour

3.Sintra to Cascais: 2 Palaces, 4 Sites, Small Group 10 Hour Tour

★★★★★★★★★★5.0 · 3,105 reviews · 10 hours (approx.) · from $120

Start early from Lisbon for a fast-moving day through Sintra and the Cascais coast. You’ll visit Pena Palace and Quinta da Regaleira, stop at Cabo da Roca and Boca do Inferno, and ride in an air-conditioned vehicle with up to 10 people. Guides such as Lukas, Eddy, Duarte, and Rodrigo add history, photos, and humor.

“It all starts with a great driver and tour guy,Duarte. He knew a lot about the history of both cities thank you sir for being so professional. Our lunch - the food was great. Allowing us to time take great pictures was a plus.”

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From Lisbon: Sintra, Pena Palace and Quinta da Regaleira - Quinta da Regaleira and Its Spiral Well
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From Lisbon: Sintra, Pena Palace and Quinta da Regaleira

4.Sintra, Pena Palace and Quinta da Regaleira

★★★★★★★★★★4.6 · 1,956 reviews · 8 hours · from $86

Spend eight hours exploring Sintra with a guide such as Camilla, Carlos, Inês, or Paulo. Visit Quinta da Regaleira’s 27-meter Initiation Well, enjoy free time for pastries and lunch, then tour colorful Pena Palace. Transport, guiding, and selected entrance tickets are included.

“Pena Palace & Quinta da Regaleira were. amazing to see and our tour guide was excellent and full of information. I would highly recommend this trip to anyone. both places take a couple of hours to walk around with your tour guide which is great, as you see everything that there is to see. there is quite a bit of walking, so wear comfortable shoes. we had a couple of hours free time in Sintra between the two places which is lovely too.”

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Sintra, Pena, Regaleira, Cabo da Roca & Cascais from Lisbon - Pena Palace above Sintra
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Sintra, Pena, Regaleira, Cabo da Roca & Cascais from Lisbon

5.Sintra, Pena, Regaleira, Cabo da Roca & Cascais from Lisbon

★★★★★★★★★★4.5 · 1,910 reviews · 9 hours (approx.) · from $119

Spend about nine hours touring Sintra and the Portuguese Riviera in a van or minibus capped at eight people. Visit Pena Palace and Quinta da Regaleira, stroll Sintra’s center, stop at Cabo da Roca, and finish in Cascais. Guides such as Carlos, Joao, Leo, Marina, Rui, and Ines have led this route, which mixes guided visits with free time.

“Our tour guide was amazing! She was informative and fun! We would recommend her to others. She had a lot knowledge about the tour and Lisbon in general”

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Sintra-Cascais-Pena Palace 8-People Small Group Tour from Lisbon - Sintra’s old center and the famous seven-fold pastry
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Sintra-Cascais-Pena Palace 8-People Small Group Tour from Lisbon

6.Cascais-Pena Palace 8-People Small Group Tour from Lisbon

★★★★★★★★★★5.0 · 1,744 reviews · 9 hours (approx.) · from $56

Travel from central Lisbon in a comfortable vehicle with a maximum of eight people, visiting Sintra, colorful Pena Palace, Cabo da Roca, and Cascais. English-speaking guides such as Carolina, Tanya, Pureza, and Katerina lead the day, with free time for pastries, lunch, photos, and seaside wandering.

“An absolutely perfect day visiting Cintra with the perfect guide Puri! A full day guided tour in intimate mode with 2 other couples felt unrushed and able to take in the full Cintra experience and surrounding locations. Puri, our guide was patient, knowledgeable and full of energy making it an extremely enjoyable day and a day that will be remembered by my wife and I! The transportation was comfortable and everything was taken care of with great advice and recommendations shared by our guide!”

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From Lisbon: Sintra, Pena Palace, Regaleira, Cabo da Roca, and Cascais - The Atlantic coast comes first
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From Lisbon: Sintra, Pena Palace, Regaleira, Cabo da Roca, and Cascais

7.Sintra, Pena Palace, Regaleira, Cabo da Roca, and Cascais

★★★★★★★★★★4.8 · 1,733 reviews · 9 hours · from $75

Travel from Lisbon in a small, air-conditioned van with a guide such as Guilherme, Omar, Antonio, or Áttila. Visit Boca do Inferno, Cascais, Guincho Beach, Cabo da Roca, Sintra, and Pena Palace. At booking, choose Quinta da Regaleira or extra free time in Sintra. Expect a full day with uphill walking and about 90 minutes for lunch.

“We had Átilla and we had the absolute BEST time on our guided tour of Sintra, Cascais and the cliffs. We had a jam-packed day with tons of stops, but Áttila gave us plenty of time at each segment to stop and take photos and to explore on our own time. He truly made the day special for us — he was extremely knowledgeable, personable and most importantly funny!! We did not have much time to research ahead, so having the guided tour with unique narrative was such a blessing. We both highly recommend this for a day trip! Such a beautiful adventure with a thoughtful company. From, Jeff &…”

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From Lisbon: Sintra Tour - Pena, Regaleira & Monserrate - Pena Palace: Portugal’s most theatrical viewpoint
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From Lisbon: Sintra Tour – Pena, Regaleira & Monserrate

8.Sintra Tour – Pena, Regaleira & Monserrate

★★★★★★★★★★4.8 · 1,711 reviews · 8 hours · from $52

Travel from Lisbon in an air-conditioned van with up to eight people, visiting Pena Palace and Monserrate with a guide, then using free time for Quinta da Regaleira and Sintra town. Guides such as Gustavo, Augusto, and Paulo add strong local history and practical tips. Entrance fees, lunch, and drinks cost extra.

“Gustavo was an amazing tour guide! Very friendly and knowledgeable. He went above and beyond to make recommendations based on our interests and budget. We loved touring Pena Palace and Monserrate. We also did Quinta da Regaleira during our free time. Highly recommend this trip!!”

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Lisbon to Sintra, Pena Palace, Regaleira & Cascais, small-group - A pause in Sintra’s old center
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Lisbon to Sintra, Pena Palace, Regaleira & Cascais, small-group

9.Lisbon to Sintra, Pena Palace, Regaleira & Cascais, small-group

★★★★★★★★★★5.0 · 1,694 reviews · 8 hours (approx.) · from $60

Spend about eight hours in a small van visiting Pena Palace, Sintra, Quinta da Regaleira, Cabo da Roca, Cascais, and Estoril. Guides such as Pedro, Filipe, David, and Tiago combine local stories with free time. Choose a ticket option carefully, since Regaleira and palace entry are not always included.

“Pedro is brilliant! Could not ask for a better tour guide. He is so nice and accommodating. He really cares about Portugal history/culture and is eager to share all of it. Book this tour!”

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Sintra Tour with Pena Palace and Regaleira All Tickets Included - The early ride to Pena Palace
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Sintra Tour with Pena Palace and Regaleira All Tickets Included

10.Sintra Tour with Pena Palace and Regaleira All Tickets Included

★★★★★★★★★★5.0 · 1,155 reviews · 8 hours (approx.) · from $145

Travel from Lisbon to Sintra in a van with up to eight people, visiting Pena Palace, Quinta da Regaleira, Sintra’s old center, and Cabo da Roca. Guides such as Filipa and Andre provide history, timing, photo advice, and lunch tips. Entry to Pena Palace and Regaleira is included.

“We had the most amazing Castle and History tour with Filipa in Lisbon. Filipa went over and beyond to ensure we got a feel of what the historical Monarchy life was like for both the wealthy and the common folk. She provided a balanced mix of Lisbon’s history, architecture, landscape and modern day life. Thank you for the most amazing tour and putting up my husbands myriad of questions. We couldn’t ask for more! Mike and Kathy Graham”

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Sintra, Pena Palace and Quinta da Regaleira from Lisbon - Two hours in Sintra for lunch and your own wandering
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Sintra, Pena Palace and Quinta da Regaleira from Lisbon

11.Sintra, Pena Palace and Quinta da Regaleira from Lisbon

★★★★★★★★★★4.5 · 1,042 reviews · 8 hours (approx.) · from $118

Spend about eight hours exploring Sintra with a professional guide, visiting Quinta da Regaleira and Pena Palace, plus free time in town. The small-group format usually carries up to eight people, though larger vehicles can operate. Guides such as Leonor, Ines, Andreia, and Jesus are praised for clear stories, humor, and personal care. Tickets may be included with your chosen option.

“The experience itself was nice. We really enjoyed the beauty of all the locations, and our guide was very nice. The only draw back is please be prepared to walk steep inclines. While myself and my husband were fine many others in our group struggled. Definitely not a reflection on the tour or tour guide, but something I thought all guests should know when booking.”

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Sintra & Cascais Day Tour with Pena Palace Entry and Gardens Walk - Free time in postcard-style Sintra
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Sintra & Cascais Day Tour with Pena Palace Entry and Gardens Walk

12.Sintra & Cascais Day Tour with Pena Palace Entry and Gardens Walk

★★★★★★★★★★5.0 · 962 reviews · 8 hours (approx.) · from $92

Travel from Lisbon in a small air-conditioned minivan to Pena Palace, its steep gardens, Sintra village, Cabo da Roca, and Cascais. English-speaking guides such as Nuno, Joanna, Simon, and Oriana are praised for clear stories and personal help. Hotel, port, or airport pickup may be available, though some addresses use a nearby meeting point.

“Oriana was amazing! We had the best day seeing the Pena Palace, lunch near the ocean, Cabo da Roca, and Cascais. Incredible tour and top marks for our guide/driver.”

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Lisbon: Sintra, Pena Palace, Cape Roca & Cascais - Guided Tour - Cabo da Roca: Atlantic air at Europe’s western edge
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Lisbon: Sintra, Pena Palace, Cape Roca & Cascais – Guided Tour

13.Sintra, Pena Palace, Cape Roca & Cascais – Guided Tour

★★★★★★★★★★5.0 · 898 reviews · 8 hours (approx.) · from $85

Travel from Lisbon in an air-conditioned vehicle with an English-speaking guide to Pena Palace, Sintra, Penedo, Cabo da Roca, Cascais, and Estoril. You get about three hours at Pena and two hours in Sintra and Cascais. Guides may include Nelson Soares, Bruno, Mario, or Carlos, though assignments vary.

“Beautiful tour of cascais costa da roca and Sintra . Mario the guide and Carlos navigated us through history and very narrow streets with their passion sense of humor and stories . High pace visits elevation walks but timely stops for a rest and some good ! If you do not want to do trip on your own this is a great option !”

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Sintra, Pena Palace, Quinta da Regaleira & Cascais Group Tour - Starting at Rossio at 8:00 am
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Sintra, Pena Palace, Quinta da Regaleira & Cascais Group Tour

14.Sintra, Pena Palace, Quinta da Regaleira & Cascais Group Tour

★★★★★★★★★★4.5 · 810 reviews · 8 hours 30 minutes (approx.) · from $33Best value

Spend about 8.5 hours touring Sintra’s palaces, Guincho Beach, Cascais, and Estoril from Lisbon. Guides such as Ivo, Catarina, Alberto, and Joaquim Lopez add history and local tips, while ticket options require careful planning.

“Avi was an amazing tour guide. He kept things interesting and moving to schedule. Highly recommend, we thoroughly enjoyed.”

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Private Tour of Sintra, Cabo da Roca and Cascais with 2 Palaces - The 8:00 a.m. pickup from Lisbon
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Private Tour of Sintra, Cabo da Roca and Cascais with 2 Palaces

15.Private Tour of Sintra, Cabo da Roca and Cascais with 2 Palaces

★★★★★★★★★★5.0 · 770 reviews · 8 hours (approx.) · from $133

Spend eight hours with a private driver-guide from Lisbon Native Tours, choosing two Sintra palaces from Pena, Quinta da Regaleira, Monserrate, and the Moorish Castle. Visit Sintra’s old center, Cabo da Roca, Hellmouth, and Cascais, with hotel pickup, an air-conditioned van, and water included. Tickets and meals cost extra.

“We had the best time of our vacation with Ricardo. He is a brilliant man with tons of knowledge. He throughly explained everything we saw and the places we went. He will forever be a friend of ours and we can never repay him enough for the day he gave us. Thank You so much for the memories with my family. WE LOVE PORTUGAL 🇵🇹”

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