Lisbon · CABO DA ROCA TOURS

The 15 Best Cabo da Roca Tours from Lisbon

59 tours  ·  from $21

The cliff at the western edge of Europe is twenty minutes past Sintra and almost always windy. These 15 tours reach it as part of a palace day or a coast run, with prices, timings and how long you actually get on the headland.

Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais - The ride to Sintra and the first walking tour
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Quinta da Regaleira Tours, Sintra Day Trips from Lisbon, Tour Reviews

Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais

1.Sintra, Pena, Regaleira, Cabo da Roca & Cascais

★★★★★★★★★★4.7 · 19,656 reviews · 570 minutes - 10 hours · from $23Our pick

Join a multilingual guide such as Pedro, Myriam, Ricardo, or Catarina for a full-day visit to Sintra, Quinta da Regaleira, Pena Palace, Cabo da Roca, and the coast to Cascais. Expect guided walks, free time, steep hills, and changing plans when weather or palace access requires it.

“An amazing day led by Venecios (I hope I spelt his name right). My cousin and I agreed that Sintra was the highlight of our Lisbon trip. It was rainy but the palaces were still magical. Highly recommend to anyone thinking of booking this tour!”

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Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip - Cabo da Roca puts the Atlantic front and center
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews

Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

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

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

See Pena Palace gardens, wander Sintra for 1.5 hours, watch Atlantic waves at Cabo da Roca, and explore Cascais. Air-conditioned transport, multilingual guides, and group or private options make this a practical way to leave Lisbon for a day.

“The Best Part of the Trip was our tour coach Rodrigo, He was very friendly, Knowledgeable and extremely fun personality which makes us engaged throughout the day. I will surely recommend people to Go for this Tour!”

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Lisbon: Sintra, Pena, Cabo da Roca, Cascais Tour with Pickup - The minivan ride from Lisbon to Sintra
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Lisbon: Sintra, Pena, Cabo da Roca, Cascais Tour with Pickup

3.Sintra, Pena, Cabo da Roca, Cascais Tour with Pickup

★★★★★★★★★★4.8 · 5,080 reviews · from $57

Join guides such as Luís, Vasco, Igor, or Diogo for a full day from Lisbon to Sintra, Pena Palace, Cabo da Roca, Azenhas do Mar, and Cascais. You get hotel pickup, a small-group minivan, local stories, and free time, but you must buy Pena Palace tickets online before the tour.

“The 3 Citys have all a unique charm, from nice architecture to one of the best views i had in my life in Cabo da Roca. We had a small group of 6 ppl with different languages. The Tourguide, André Feldman, is a very nice guy and he did his best to ensure, that everybody had a good experience and he was speaking, Spanish, English and Italian too, no problem.”

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Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais - Sintra old town and a warm pastry
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

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

4.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, stopping in Sintra, Pena Palace, Cabo da Roca, and Cascais. Guides such as Sara, Gustavo, Pedro, and Tiago are known for lively storytelling and careful driving. Pena Palace entry costs an extra €20, and lunch is on your own.

“The tour itself was very well planned and very interesting. Our tour guide Philip was very informative and very knowledgeable on the subject. Unfortunately, he had a fairly strong accent, so it was sometimes hard to understand what he was saying. He was a wonderful driver and drove us safely along the coast home, which was very interesting.”

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Lisbon: Sintra, Pena Palace, Cabo da Roca, & Cascais Tour - Pena Palace gardens: bright colors, steep paths, and quiet corners
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Lisbon: Sintra, Pena Palace, Cabo da Roca, & Cascais Tour

5.Sintra, Pena Palace, Cabo da Roca, & Cascais Tour

★★★★★★★★★★4.9 · 3,509 reviews · from $56

Spend nine hours with a small English-speaking group of up to eight, visiting Pena Palace, Sintra, Cabo da Roca, and Cascais. Guides such as Tiago, Lara, Edi, and Rafael bring Portuguese history to life, while free time lets you eat, stroll, and explore on your own.

“We had an amazing time on this excursion! Tiago was a fantastic guide — incredibly knowledgeable and passionate about history. He always had interesting facts to share and made every stop even more meaningful with his insights. His enthusiasm and storytelling really brought the places to life. We would highly recommend this tour to anyone looking for a deeper and more engaging experience!”

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Lisbon: Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour - Meeting at Rossio before the crowds
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Lisbon: Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour

6.Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour

★★★★★★★★★★4.8 · 3,124 reviews · from $41

Travel from Lisbon to fairytale Sintra, colorful Pena Palace, Guincho Beach and elegant Cascais in eight hours. Guides such as Hugo, Ivo, Maria and Paulo add history, humor and local food tips. Choose palace tickets carefully, arrive early, and expect walking on steep, uneven ground.

“An amazing day filled with beautiful areas and delicious food.”

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Guided Tour to Sintra, Pena, Regaleira, Cabo da Roca and Cascais - Sintra’s old center and its famous pastries
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Guided, Pena Palace Tours, Quinta da Regaleira Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Guided Tour to Sintra, Pena, Regaleira, Cabo da Roca and Cascais

7.Guided Tour to Sintra, Pena, Regaleira, Cabo da Roca and Cascais

★★★★★★★★★★5.0 · 2,978 reviews · 10 hours (approx.) · from $95

Spend a full day with a guide such as João, Hugo, David, or Luis exploring Sintra’s palaces, Quinta da Regaleira, Cabo da Roca, Guincho Beach, and Cascais. Hotel pickup, transport, and the Pena Palace exterior are included. Bring cash for Regaleira and expect steep paths, wind, and plenty of walking.

“This trip was very relaxing and enjoyable experience with a great and friendly tour guide, Patrik! He made sure that everyone was having a nice time and not rushing us in enjoying each site we visited. Our group wasn’t able to enter the Pena Palace and Quinta Regaleira for it was New Year’s eve, so we just enjoyed the view from the outside. It’s a nice little trip out of Lisbon!”

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Sintra, Pena, Regaleira, Cabo da Roca & Cascais from Lisbon - Quinta da Regaleira and the famous Initiation Wells
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Quinta da Regaleira Tours, Sintra Day Trips from Lisbon, Tour Reviews

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

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

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

Travel from Lisbon to Sintra and the Portuguese coast in a small group of up to eight. Explore Pena Palace and Quinta da Regaleira, then stop at Cabo da Roca and Cascais. Guides such as Leo, Joao, Marina, and Rui add history, local tips, and a personal touch.

“10 hour guided tour of Pena Palace, Quinta da Regaleria, Roca Cape, and Cascais. Terrific guide Inez.”

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Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais Tour - Sintra Village and its famous pastries
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Quinta da Regaleira Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais Tour

9.Sintra, Pena, Regaleira, Cabo da Roca & Cascais Tour

★★★★★★★★★★4.7 · 1,623 reviews · 9 hours · from $21Best value

Spend nine hours exploring Sintra’s Pena Palace and Quinta da Regaleira, with free time for pastries, a stop at Cabo da Roca, and a seaside walk in Cascais. Guides such as Nelson, Bruno, Andre, and Marco are known for lively storytelling, while air-conditioned transport saves you from crowded public buses.

“It was a very good experience and trip Our guide Nelson was above expectations he cared for each and everyone and also he gave us all useful information and story prior visiting an historical site or place.I had good food good times good vibes and excellent service from Nelson. Thank you keep your team at the top”

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Lisbon: MiniBus Sintra, Pena, Regaleira, Cap Roca Tour - Starting at Eduardo VII Park
Cabo da Roca Tours, Pena Palace Tours, Quinta da Regaleira Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Lisbon: MiniBus Sintra, Pena, Regaleira, Cap Roca Tour

10.MiniBus Sintra, Pena, Regaleira, Cap Roca Tour

★★★★★★★★★★4.8 · 1,526 reviews · from $51

Spend nine hours visiting Sintra’s Pena Palace, Quinta da Regaleira, and Cabo da Roca from Lisbon. Guides such as Paulo, Hugo, Ines, and Frederico lead the day in several languages, with palace entry, transport, and free time in Sintra included. Expect hills, stairs, coastal views, and no included lunch.

“Barbara was amazing! Unfortunately, all the monuments and palaces announced they were closing due to the virus that morning. But I dont feel like I missed anything, Barbara filled in the gaps, kept us laughing, and provided a memorable experience!”

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Lisbon: Sintra, Pena Palace, Cape Roca & Cascais - Guided Tour - Sintra and Penedo beyond the palace
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Guided, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews, Tours

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

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

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

You’ll travel from Lisbon in an air-conditioned vehicle with a multilingual guide, visiting Pena Palace, Sintra, Penedo, Cabo da Roca, Cascais, and Estoril in about eight hours. Guides such as Nelson Soares, Bruno, and Mario bring local stories to the narrow mountain roads. Choose your preferred Pena Palace entry option when booking.

“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 Cabo da Roca Cascais Estoril Private Tour - Estoril and Cascais: Portuguese seaside life with royal connections
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Estoril Coast Tours, Private, Sintra Day Trips from Lisbon, Tour Reviews, Tours

Sintra Cabo da Roca Cascais Estoril Private Tour

12.Sintra Cabo da Roca Cascais Estoril Private Tour

★★★★★★★★★★5.0 · 778 reviews · 8 hours (approx.) · from $260

Spend about eight hours with a private guide such as Paula, Jorge, Isabel, or Ruy George, traveling from Lisbon to Estoril, Cascais, Cabo da Roca, Sintra, and Pena Palace. You choose the pace, but palace admission, lunch, and some walking are extra.

“We had Pedro as our guide. He was amazing! I fell the day before and I was not able to walk much but the owner and Pedro adjusted our private tour so I can enjoy as much as could. Thank you very much for an amazing day in Sintro! Sanam”

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Private Tour of Sintra, Cabo da Roca and Cascais with 2 Palaces - Sintra village and the royal National Palace
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Private, Sintra Day Trips from Lisbon, Tour Reviews, Tours

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

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

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

Travel from Lisbon by private air-conditioned van with an expert guide such as Ricardo, Luís, Diogo, or Marco. Spend eight hours exploring Sintra, choose two palaces, then continue to Cabo da Roca, Hellmouth, and Cascais. Palace tickets and meals cost extra.

“Our family had a great time on this tour. Luis is very knowledgeable and truly loves what he does. He went above and beyond to make sure we visited the sites we were interested in, and had the best experience possible.”

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Sintra, Pena Palace, Cabo da Roca and Cascais from Lisbon - Cabo da Roca, the edge of continental Europe
Cabo da Roca Tours, Cascais Day Trips from Lisbon, Pena Palace Tours, Sintra Day Trips from Lisbon, Tour Reviews

Sintra, Pena Palace, Cabo da Roca and Cascais from Lisbon

14.Sintra, Pena Palace, Cabo da Roca and Cascais from Lisbon

★★★★★★★★★★4.5 · 738 reviews · 8 hours (approx.) · from $53

Travel from Lisbon to Pena Palace Gardens, Sintra, Cabo da Roca, and Cascais with a professional guide. Expect an efficient day, scenic drives, free time for lunch and photos, and commentary that may be multilingual. Palace garden entry and air-conditioned transport are included.

“Do not recommend this tour. I booked this tour specifically because it included a guided tour of Pena Palace. It did not include a guided tour of the castle. They changed the rules at Pena palace recently and if you are in a guide of more than 8, you do not get a guide to accompany you to explain what you are seeing in the castle. Then it didn't include an audio guide, so you had no idea what you were looking at in the castle. Absolutely ridiculous. I would not recommend this tour for those reasons. Check out Native Lisbon tours instead and ask for Andre Feldman. We saw…”

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Lisbon: Sintra, Regaleira, Pena, Cabo Roca All Tickets Included - Quinta da Regaleira: the most atmospheric first stop
Cabo da Roca Tours, Pena Palace Tours, Quinta da Regaleira Tours, Sintra Day Trips from Lisbon, Tickets, Tour Reviews

Lisbon: Sintra, Regaleira, Pena, Cabo Roca All Tickets Included

15.Sintra, Regaleira, Pena, Cabo Roca All Tickets Included

★★★★★★★★★★4.5 · 683 reviews · 9 hours 30 minutes (approx.) · from $119

Join an English-speaking guide from Lisbon for a 9.5-hour trip to Quinta da Regaleira, Sintra, Pena Palace, Cabo da Roca, and the Atlantic coast. Tickets, transport, headsets, and guided visits are included, with lunch and hotel pickup left to you.

“This was an excellent tour, extremely well organised with very friendly and knowledgeable guides that were exceptional and could not fault them. Definitely recommend to anyone planning a trip to Sintra. This was one of the only tours we could find where all entry tickets to Pena pallace and quinta regliara are included. The bus was modern and comfortable with a great driver. Highly recommend”

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