14 Queluz Palace Tours near Lisbon Worth the Morning

1.Visit to Queluz Palace and Mafra Convent – Private Tour

★★★★★★★★★★5.0 · 23 reviews · 8 hours (approx.) · from $192Our pick

Spend about eight hours with a private guide exploring Queluz Palace, Mafra Convent and its 36,000-book library, the restored village of Mata Pequena, coastal Ericeira, and Forte do Zambujal. José, Bruno, Rita, João, and other guides have led this route, with lunch chosen in Ericeira.

“This is one of the best tours my husband and I have taken. We visited palaces, small villages inland then villages along the sea coast. Our tour guide Jose was remarkable in his knowledge of Portugals historical palaces and small villages we visited. I can highly recommend this tour Mafria is huge and it’s library is unbelievable. I especially liked the sea coast villages. It was a sunny day which even made the tour better. Jose our tour guide was very friendly and informative. Thank You Jose for giving us a wonderful tour…..”

Check availability →Read our full review

2.From Lisbon or Cascais: Mafra, Ericeira, and Queluz Day Tour

★★★★★★★★★★5.0 · 16 reviews · 8 hours · from $94

Spend a full day with a private guide such as Gonçalo visiting Mafra’s vast palace-convent, Ericeira’s Atlantic coast, and Queluz’s royal gardens. Hotel pickup, air-conditioned transport, Wi-Fi, and water are included. Lunch and entrance tickets cost extra.

“Very comfortable ride and private. Tour guide Gonçalo was friendly and made the tour relatable. Many all day tours can seem long but this one was perfectly timed. We really enjoyed it.”

Check availability →Read our full review

3.Private Sintra from Lisbon with Wine Tasting and Queluz Palace

★★★★★★★★★★5.0 · 12 reviews · 8 hours (approx.) · from $114

Spend about eight hours exploring Queluz Palace, Sintra, the Moorish Castle, Pena Palace, Cabo da Roca, and Cascais with a private driver. Jose Ribeiro is a standout guide to request, and the flexible format lets you adjust the day around crowds, opening hours, and your interests.

“What a let down. I booked this experience a few months in advance and was really looking forward to the day spent with my mother. Although our tour guide was nice and accommodating it was a national holiday and the wineries were closed and we didn't get to see several things on this tour. If I would have been informed of this I would have changed my dates or not booked at all. However the tour operator never informed us of this. We were told by our guide. We did not get to see Sintra, a UNESCO world heritage site, Castelo dos Mouros, or Park and National Palace of Pena.…”

Check availability →Read our full review

4.FULL DAY Private Tour to Sintra, Queluz, Cabo da Roca, and Cascais

★★★★★★★★★★5.0 · 12 reviews · 8 hours (approx.)

Travel from Lisbon with Fernando or another AP TOURS guide in a private, air-conditioned vehicle. See Pena Palace, Regaleira, Monserrate, Queluz, Cabo da Roca, Sintra, and Cascais in about eight hours. Palace admission and lunch cost extra.

“Had a great time visiting Queluz, Sintra. Cabo da Roca and Cascais. Fernando was very friendly and knowledgeable. Highly recommend hiring him to do day trips from Lisbon.”

Check availability →Read our full review

5.Queluz and Ajuda Palaces Private Tour, Lisbon´s forgotten history.

★★★★★★★★★★5.0 · 6 reviews · 5 hours (approx.) · from $131

Travel by private car or van from Lisbon to Queluz and Ajuda Palaces with an English-speaking guide. See gilded royal rooms, French-style gardens, the tiled canal, grand dining rooms, and Ajuda’s remarkable dinner service. Monserrate may replace Ajuda if needed.

“Had a fabulous day with Ricardo. Montserrate was closed due to the fires so we explored the Queluz and Ajuda palaces. Queluz has a marvelous garden and some wonderful tiles. Ajuda is filled with antiques and glorious painted ceilings and marquetry floors. Ricardo is an art history expert so his knowledge of the furniture and decor inside the palaces made the visit especially interesting. It felt like spending the day with a wonderful new friend.”

Check availability →Read our full review

6.National Palace and Gardens of Queluz: E-ticket with Audio Guide

★★★★★★★★★★3.5 · 6 reviews · from $21Best value

Visit the National Palace and Gardens of Queluz independently with a smartphone audio tour from Clio Muse Tours. Expect about two and a half hours with access to the Music Room, Picnic Room, and Monkey Lakes. Download the ticket, map, and narration before you arrive.

“I absolutely loved the Queluz palace but this ticket provider (Viator) wasn’t recognised by the museum (venue) hence I had to buy a second ticket. I would personally buy it at the door do not use this ticket provider because it’s not recognised by a lot of exhibitions.”

Check availability →Read our full review

7.Mafra, Ericeira & Queluz Small-Group Full Day Tour

★★★★★★★★★★5.0 · 5 reviews · 8 hours (approx.) · from $95

Travel from Lisbon in a group of up to eight with a private guide, air-conditioned vehicle, and onboard Wi-Fi. Explore Mafra Palace, enjoy free time in Ericeira, and finish at Queluz Palace and gardens. Guide Gonçalo Cruz is praised for clear stories and a flexible style.

“Highly recommended, wonderful visit. Our guide Gonzalo Cruz very prepared, exceptional !!!!.”

Check availability →Read our full review

8.Mafra, Ericeira & Queluz Private Full Day Tour

★★★★★★★★★★5.0 · 5 reviews

Travel from Lisbon with guide Gonçalo Cruz in a private, air-conditioned vehicle to Mafra’s UNESCO-listed palace-convent, coastal Ericeira, and Queluz National Palace. The eight-hour outing includes transport, WiFi, and guide service, but palace tickets and lunch cost extra.

“This was an excellent private tour with Goncalo. He speaks good English and has a very nice, comfortable car. He is a very knowledgeable and personable guide. We really enjoyed this tour. The Queluz Palace was absolutely amazing. It was the highlight of the tRead more”

Check availability →Read our full review

9.Sintra Tour with Queluz Palace Entrance

★★★★★★★★★★5.0 · 4 reviews · 8 hours · from $159

You’ll travel privately from Lisbon with an English-speaking guide to Queluz Palace, Sintra, the Moorish Castle area, Pena Palace views, Cabo da Roca, Colares, and Cascais. The day includes wine tasting, hotel pickup, bottled water, and an air-conditioned vehicle. Palace admission is not included.

“Tour guide was amazingly Good..... Thanks Mr Jose Ribeiro”

Check availability →Read our full review

10.Mafra and Queluz Palaces Private Tour with Tickets

★★★★★★★★★★5.0 · 4 reviews · from $202

Travel from Lisbon to Queluz and Mafra with a private guide, entry tickets, WiFi, water, and air conditioning included. Sandra Pestana leads you through palace rooms, gardens, and royal stories before a seafood lunch and free time in Ericeira. Lunch costs extra.

“At age 74, I came to Portugal with my family in March 2024 to connect with the land of my Azorean grandparents — and to talk to someone who could explain the country to me. Tour guide Sandra Pestana of No Map Tours checked both boxeRead more”

Check availability →Read our full review

11.Visit Queluz, Sintra, Cabo da Roca and Cascais

★★★★★★★★★★4.5 · 3 reviews · 8 hours · from $147

Travel from Lisbon in a van for up to eight people with an English- or Spanish-speaking driver. Visit Queluz and Pena Palace, enjoy free time in Sintra and Cascais, and see Cabo da Roca, Guincho Beach, and Boca do Inferno. Palace tickets and lunch cost extra.

“We enjoyed the trip and the sights. We were picked up from our apartment which was great. Ricardo had contacted up the day before the trip to see whether we wanted to visit Pena Palace or Quinta do Regaleira. After back and forth with Ricardo we chose Quinta and were not disappointed it is beautiful. Earlier communications would have been better. We enjoyed the Queluz, CasCais and Cabo de Roca. While the roads are narrow and it takes time to travel relatively short distances the scenery and houses along the way make the trip pass quickly. Our driver was very good and friendly.”

Check availability →Read our full review

12.Mafra Convent, Queluz Palace & Ericeira Tour from Lisbon

★★★★★★★★★★5.0 · 3 reviews · 8 hours

Travel from Lisbon with a private guide to Queluz Palace, surf town Ericeira, and Mafra Convent. Guides such as Alexandra and João Correia lead the day in English, French, or Portuguese. Hotel, airport, or cruise-port pickup is included, while entry tickets and meals cost extra.

“Our guide was fantastic! She was so informative and descriptive about all the sights we saw. The history and stories were captivating. Lovely lunch by the sea and charming company. Highly recommend Alex”

Check availability →Read our full review

13.Private Historical Tour to Queluz and Ajuda Palaces

★★★★★★★★★★5.0 · 3 reviews · 5 hours

Travel by private air-conditioned car or van from Lisbon to Queluz and Ajuda palaces. Your English, Portuguese, or German-speaking guide leads you through royal rooms, formal gardens, the Canal dos Azulejos, and Ajuda’s lavish dining room. Guides named in bookings include Evasco and Paulo.

“The best part of the tour (besides my guide Evasco) is that both palaces are not the first choice of many tourists so there are no crowds even though both palaces are well worth the visit. I thoroughly enjoyed my visit.”

Check availability →Read our full review

14.Full Day Queluz, Mafra and Ericeira Private tour from Lisbon

★★★★★★★★★★5.0 · 3 reviews

Travel privately from Lisbon to Queluz, Mafra, and Ericeira in about eight hours. See royal rooms and gardens, explore Portugal’s grandest Baroque monument, then stroll a fishing and surfing town. Palace admission is extra, and the guide can adjust plans when needed.

“The tour guide was excellent and very attentive. Even though the Mafra Palace was not open the guide took us to another tourist spot to compensate for this. Overall a great experience.”

Check availability →Read our full review