Palace tours · PRIVATE PALACE TOURS IN LISBON

The 15 Private Palace Tours in Lisbon We Would Buy a Ticket For

44 tours  ·  from $77 a head

This is the shortlist you would send a friend: 15 private palace tours in Lisbon worth the money, each with its price, its traveller verdict and the one thing to know before you buy.

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

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

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

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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Private Tour Sintra from Lisbon Palaces of Pena and Regaleira - Pena Palace: Portugal’s colorful royal showpiece
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Private Tour Sintra from Lisbon Palaces of Pena and Regaleira

2.Private Tour Sintra from Lisbon Palaces of Pena and Regaleira

★★★★★★★★★★5.0 · 585 reviews · 8 hours (approx.) · from $135

Spend about eight hours with a private guide from Lisbon, visiting Pena Palace, Sintra, Cabo da Roca, Boca do Inferno, Cascais, and either Quinta da Regaleira or Monserrate. Guides such as Carlos, Gonçalo, Pedro, Miguel, and Sonia tailor the pace, explain Portugal’s past, and help with traffic, meals, and family needs.

“We loved this tour with our guide Miguel. He was a wealth of knowledge regarding the history of Sintra, as well as other facts of Portugal.”

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Sintra and Cascais Private Tour with Pena Palace Ticket Included - Entering Pena Palace after the forested climb
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Sintra and Cascais Private Tour with Pena Palace Ticket Included

3.Sintra and Cascais Private Tour with Pena Palace Ticket Included

★★★★★★★★★★5.0 · 338 reviews · 8 hours (approx.) · from $178

Spend eight hours with a private guide exploring Pena Palace, Sintra, Cabo da Roca, and Cascais. Guides such as Sandra and Luis combine local history with practical help, while hotel pickup, Wi-Fi, water, and palace admission keep the day simple. Bring good shoes, eat breakfast early, and arrive on time for the fixed palace entry.

“Our tour guide Sandra provided a day of exploration and a wonderful adventure. Sandra was very versed in local and historical knowledge. She actually led us and narrated the history as we toured the Pena Palace. Wonderful day and Sandra is an excellent driver through the roads and streets of Portugal.”

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Private Local Sintra Tour: Palaces & Coast by Classic Car or Jeep - Small local stops around the historic center
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Private Local Sintra Tour: Palaces & Coast by Classic Car or Jeep

4.Private Local Sintra Tour: Palaces & Coast by Classic Car or Jeep

★★★★★★★★★★5.0 · 337 reviews · from $76Best value

This private 4 to 6-hour Sintra tour combines palaces, mountain roads, Cabo da Roca, and Azenhas do Mar. Guides such as Diogo, Manuel, and Cátia tailor the route to your interests, using a classic car, convertible Jeep, or electric Jeep. You can focus on monuments, food, beaches, local life, or a mix of all four.

“Manual was an excellent guide and so knowledgeable! We visited all of the amazing sites, stopping to take pictures and walk around. We learned so much and had a wonderful and relaxing afternoon. We even learned some Portuguese! I highly recommend this tour!”

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Sintra Cascais Private Tour with Pena Palace and Mouros Castle - The Moorish Castle begins with a climb
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Sintra Cascais Private Tour with Pena Palace and Mouros Castle

5.Sintra Cascais Private Tour with Pena Palace and Mouros Castle

★★★★★★★★★★4.5 · 280 reviews · 8 hours (approx.) · from $199

Spend about eight hours with a private English-speaking guide exploring Pena Palace, the Moorish Castle, Sintra, Cabo da Roca, Guincho Beach, Cascais, and Boca do Inferno. Guides such as Ana, David, Pedro, and Anna are praised for history, flexible pacing, scenic lunch suggestions, and help with steep walks. Palace and castle admission, transport, water, and WiFi are included.

“Other travelers should know that Pedro was the main attraction of this tour! He was so accommodating, patient, sweet, and knowledgeable! By the time he got us home, we felt like we just made another best friend! This tour was also the only one that included tix to both the castle & the palace. Others did not include both. So we were grateful for that. We thoroughly enjoyed our day & highly recommend this tour for others, especially with Pedro!!”

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Private Tour Sintra, Pena Palace and Cascais from Lisbon - Sintra National Palace and the old town
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Private Tour Sintra, Pena Palace and Cascais from Lisbon

6.Private Tour Sintra, Pena Palace and Cascais from Lisbon

★★★★★★★★★★5.0 · 188 reviews · 8 hours (approx.) · from $114

Spend about eight hours with a private guide exploring Quinta da Regaleira, Pena Palace, the Moorish Castle, Sintra, Cabo da Roca, and Cascais. Ricardo, Diogo, and Nuno are among the guides praised for local knowledge and flexible planning. Transport, bottled water, and insurance are included, while monument tickets and lunch cost extra.

“We had the most incredible experience with our tour guide, Ricardo, on the tour of Sintra and Cascais. From the moment we met, he was welcoming, fun, knowledgeable, and professional. He shared stories about Portuguese history and culture which was special because he was born and raised here. He knew all of the hidden gems and breathtaking views, that we never would have found on our own. He also recommended local foods to try and directed us to a great authentic Portuguese restaurant in Sintra for lunch which was delicious! We spent 9 days in Europe and our favorite day was the tour spent with Ricardo. He went above and…”

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Sintra Private Tour 2 Palaces Roca Cascais Tailored up to 7 - Boca do Inferno adds a quick Cascais cliff stop
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Sintra Private Tour 2 Palaces Roca Cascais Tailored up to 7

7.Sintra Private Tour 2 Palaces Roca Cascais Tailored up to 7

★★★★★★★★★★5.0 · 85 reviews · 7 to 8 hours (approx.)

Set out from Lisbon with Bruno Miguel Tours for a private 7 to 8 hour day through Sintra, Cabo da Roca, Cascais, and Estoril. Visit Pena Palace plus Quinta da Regaleira or Monserrate, with hotel, airport, cruise terminal, or train station pickup. Expect a tailored route, air-conditioned transport, local pastry time, and Atlantic views.

“Bruno truly has curated an incredible experience for anyone visiting Lisbon and beyond. We had such an amazing day touring the castles and exploring the small towns outside of Lisbon. From the moment I booked, Bruno immediately reached out with info about the trip. He was so easy to talk to and so responsive. He tailored our day perfectly for our needs, and even made dinner reservations for us in another part of Lisbon for us to explore. He was so enthusiastic, funny , kind and a great photographer ! Hoping we get back to Portugal in the future and will definitely reach out to him in the future for…”

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Palace Penna entrance included, Sintra, Cascais, Cabo Roca, private - Sintra village and the famous sweet
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Palace Penna entrance included, Sintra, Cascais, Cabo Roca, private

8.Palace Penna entrance included, Sintra, Cascais, Cabo Roca, private

★★★★★★★★★★5.0 · 72 reviews · 8 hours (approx.) · from $235

Start with a guided visit to Pena Palace, then enjoy Sintra, Cabo da Roca, and Cascais in a private vehicle. Rui or Oliver handles the driving, history, timing, and route, with hotel pickup, WiFi, water, and palace admission included. Lunch is your choice and your own expense.

“My family had a wonderful day on our tour with Oliver. My mother and I use canes or walkers and Oliver was very accommodating. He tailored the trip to our walking abilities and we never felt rushed. He structured our day so that we avoided the crowds at the beautiful Pena Palace. We had a lovely lunch at the marina in Cascais where Oliver helped us pick a restaurant and guided us through the menu. I highly recommend Olive Premium Tours.”

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Full-Day Private Sintra Tour with Wine Tasting and Pena Palace - Colares wine tasting and the character of local wine
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Full-Day Private Sintra Tour with Wine Tasting and Pena Palace

9.Full-Day Private Sintra Tour with Wine Tasting and Pena Palace

★★★★★★★★★★5.0 · 67 reviews · 8 hours (approx.) · from $253

Spend about eight hours with a private driver-guide from Lisbon, visiting Sintra, Pena Palace, Colares wine country, Cabo da Roca, the Moorish Castle, and Cascais. Guides such as Jose and Nuno tailor the route to your interests. Pena Palace entry, hotel pickup, wine tasting, bottled water, and hotel drop-off are included.

“Our Guide, Mr Silva was amazing. In one day he showed us many places. We got to Pena Palace in Sintra, walk a little in Sintra center,. The went to a quiet restaurant in Colares near the wine tasting. From there to Cabo Roca and to Cascais for Pictures. In one day we got a little taste of Sintra. Recommended for those with little timebut that want a incredible day.”

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Lisbon: Express Sintra Private Tour with Pena Palace Tickets - What the private ride changes
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Lisbon: Express Sintra Private Tour with Pena Palace Tickets

10.Express Sintra Private Tour with Pena Palace Tickets

★★★★★★★★★★5.0 · 64 reviews · 4 hours (approx.) · from $172

Ride from Lisbon to Sintra with a private English-speaking guide, enter Pena Palace and its gardens, then explore Sintra’s historic center. Guides such as Miguel, Susanna, Ana Sophie, Alvaro, Jose Marques, and Ricardo have led this outing. Pickup is offered, tickets are included, and the listed duration is about four hours.

“We had a fantastic day touring Sintra with Miguel! He was incredibly warm and welcoming from the start. He took us through the beautiful streets and local shops of Sintra, and even made a last-minute change to the itinerary so we could visit the stunning Queluz National Palace. Miguel’s knowledge of Portuguese history was impressive—he didn’t just share facts, he told the big-picture story of how Portugal’s Kings and Queens evolved over the centuries. It brought the palace and the entire region to life in a way we’ll never forget. Thoughtful, flexible, and engaging—Miguel is everything you’d want in a guide. Highly recommend booking with him!”

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Sintra: Truly Private Tour to Pena Palace & Regaleira - Pena Palace: color, hilltop views, and careful timing
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Sintra: Truly Private Tour to Pena Palace & Regaleira

11.Truly Private Tour to Pena Palace & Regaleira

★★★★★★★★★★4.9 · 61 reviews · 7.5 hours

Travel from Lisbon in a private vehicle with an English or Portuguese speaking guide. Visit colorful Pena Palace, enjoy free time in Sintra, then walk to Quinta da Regaleira and its famous Initiation Well. Guides such as Alex and Elisabete are known for strong local knowledge and flexible planning. Palace tickets and food cost extra.

“Alex was an AMAZING guide! He is a local, so he was very very knowledgeable. His tips and tricks really made our experience unique and special. He was always willing to answer questions and customize the itinerary to our liking. Highly recommend!!!”

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Lisbon: Pena Palace-Cabo da Roca & Cascais Private Tour - From Lisbon to Cascais by the long way
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Lisbon: Pena Palace-Cabo da Roca & Cascais Private Tour

12.Pena Palace-Cabo da Roca & Cascais Private Tour

★★★★★★★★★★5.0 · 50 reviews · 8 hours · from $152

Join Christiano and Laura for an eight-hour private tour from Lisbon in a beautifully restored vintage VW van. Explore Cascais, stop at Guincho Beach and Cabo da Roca, enjoy a cliffside lunch in Azenhas do Mar, then visit Pena Palace. The van holds up to five people, and pickup and drop-off at your Lisbon hotel are included.

“Christiano was an excellent guide and our whole day was truly magical and one that we will not soon forget. Both he and Laura provided clear communication about the plan for the day, made excellent recommendations throughout the day, and truly went above and beyond all expectations. We can’t recommend this trip highly enough. Obrigada for one of the best days of the trip!!”

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Lisbon: Pena Palace-Cabo da Roca & Cascais Private Tour - From Lisbon to Cascais by the long way
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Lisbon: Pena Palace, Cabo da Roca, Cascais private tour

13.Pena Palace, Cabo da Roca, Cascais private tour

★★★★★★★★★★5.0 · 44 reviews · 7 to 8 hours (approx.) · from $154

Travel from Lisbon in a retro VW van with Laura and Cristiano, visiting Cascais, Guincho Beach, Cabo da Roca, Azenhas do Mar, and Pena Palace. The 7 to 8 hour private tour includes hotel pickup, water, and Pena Palace admission. Lunch is extra.

“The day was filled with joy and happiness. The warmth of our tour guides made us feel as if we were with long time friends that we were reuniting with. The depth, and breathe of the typical sites along with surprise tidbits of unexpected insights made us feel we were learning, exploring, experiencing the areas in a special way. They are fun! Funny! They Genuinely cared about us and insured we had a great day.”

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Private Tour to Sintra & Pena Palace, Cascais & Roca - Cascais: 90 minutes by the water
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Private Tour to Sintra & Pena Palace, Cascais & Roca

14.Private Tour to Sintra & Pena Palace, Cascais & Roca

★★★★★★★★★★5.0 · 34 reviews · 7 hours (approx.) · from $258

Spend about seven hours with a private guide visiting Cascais, Cabo da Roca, Pena Palace, and Sintra. You get hotel or B&B pickup in Lisbon, an air-conditioned car, bottled water, onboard WiFi, and time to explore on foot. Alex and Elizabeth have provided especially attentive service, including airport pickup in one booking.

“Alex and Elizabeth went above and beyond to make sure we got to see everything and had the best experience. Definitely a great value for as much as we saw, and they picked us up from the airport. Highly recommend!”

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Óbidos historic village and Mafra Palace Private Tour - When Óbidos Becomes a Medieval Fair
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Óbidos historic village and Mafra Palace Private Tour

15.Óbidos historic village and Mafra Palace Private Tour

★★★★★★★★★★5.0 · 34 reviews · 6 hours (approx.) · from $138

Travel privately from Lisbon to Óbidos and Mafra with guides such as Rodrigo, Ricardo, or João. Walk Óbidos’ medieval lanes, sample ginjinha, then tour Mafra’s vast palace, basilica, monastery, and famous library. The six-hour outing includes transport, admission, and flexible hotel or cruise-port pickup.

“Mafra Palace was one of the highlights of our trip. Absolutely a must see. Our guide walked us through the history of the palace and the Royals who once lived there. Definitely worth a visit.”

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