Tours/Lisbon/Private Tour Sintra Gardens Palácio da Pena Cabo da Roca Cascais
Viator · Private tour

Private Tour Sintra Gardens Palácio da Pena Cabo da Roca Cascais

4.3(6)Lisbon1 hour
VIATOR4.0(4)TRIPADVISOR5.0(2)

Description

Enjoy a panoramic walk to the Palacio da Pena and, on the return, tour the stunning coast from the “end of the world” at Cabo da Roca to Lisbon. As you enter the magical and romantic Serra de Sintra, discover the stories of the English families and the Portuguese royal family who took refuge here to escape the heat of the capital. In Sintra, you’ll have time to visit the Palacio da Pena, with entrance included in the gardens and outside the palace, exploring trails, viewpoints and unique views. In the historic centre, try the typical sweetheads of the region, such as the famous Queijadas de Sintra and the Travesseiros. Between Sintra and Cascais, there will be a lunch break, where you can taste typical food from the region and Portugal. Already on the coast, explore Cascais and Estoril, also knowing the fascinating world of international espionage that marked this historic region.

Tour Options

FD Sintra
  • Pickup included

Itinerary

45 min

Tour with panoramic views from Lisbon to Pena Palace

Admission not included90 min

Visit of the Pena Palace gardens accompanied by the Guide/Driver as long as the vehicle is securely parked.

30 min

Stop in Vila de Sintra to enjoy the historic area, with shops including the famous Periquita with the pillows and the Palácio da Vila known as the palace of the Queens.

Pass by

Tour through the Sintra forest, passing through the Monserrate Palace to Cabo da Roca

30 min

Cabo da Roca is the westernmost point of Portugal and continental Europe, at an altitude of 150m that falls over the Atlantic Ocean. Luís Vaz de Camões described it as the place “Where the land ends and the sea begins”. There are currently no visits to the Lighthouse, but it has a souvenir shop and a wonderful panoramic view.

90 min

Tour with panoramic views of this Cape, the westernmost point of continental Europe, passing through Guincho Beach, widely used for water activities, Quinta da Marinha and up to Cascais. Opportunity to take a break for lunch.

30 min

The city of Cascais is still called a village that has a bathing area with a cool climate that attracted European monarchies to have residences here and also families from England and other countries. This region from Estoril to Cascais became known as the Portuguese Riviera à Costa do Sol.

Pass by

Famous place due to the period of espionage and for being where Ian Fleming created the character 007 James Bond with the book “Casino Royale” it is also known for the Estoril Casino

45 min

Panoramic walk along the coast and the Tagus River until the Drop off of our visitors and wishes to return with our company

Highlights

Natural water
Sedan (Mercedes-Benz class E) or Van (Mercedes-Benz class V)
Local Portuguese Guide living in Lisbon
AC system in front and back

What's included

Included
Natural water
Sedan (Mercedes-Benz class E) or Van (Mercedes-Benz class V)
Local Portuguese Guide living in Lisbon
AC system in front and back
Not included
Lunch
Pena National Palace (Includes the exterior Balconies, Gardens and Chapel)

Pickup Locations & Times

Pick-up from your address in the region of Lisbon - It as to be a address were it is possible to stop the car

Traveller Ratings

4.3
6 reviews
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Important Information

  • Specialized infant seats are available
  • Public transportation options are available nearby
  • Infants and small children can ride in a pram or stroller
  • All areas and surfaces are wheelchair accessible
  • Wheelchair accessible
  • Suitable for all physical fitness levels
  • Need to know the age of the infants

Reviews(6)

D
dianarM6397KE
April 9, 2026
⭐️⭐️⭐️⭐️⭐️

I had an amazing full-day tour to Sintra with Bernardo and it was truly one of the highlights of my trip! Everything was very well organized and the whole experience was smooth and enjoyable from start to finish. Bernardo was an excellent guide — very friendly, knowledgeable, and passionate about the history and the places we visited. He shared great stories and interesting facts throughout the day, which made the tour even more special. Sintra is absolutely stunning and doing this tour with such a great guide made the experience unforgettable. I would highly recommend this tour to anyone visiting Lisbon who wants to explore Sintra in the best way possible.🤩🤩

D
Dianne_N
September 14, 2025
Sintra and cassis and lots in between

We had a wonderful day with Paola . He was so professional, kind and had a good sense of humor. He blew our minds with how much he knew. He made sure to ask us what we wanted and gave us all the ins and out. Book with Paulo. The crowds at sintra were a little overwhelming but we worked around it.

S
saltinyuva
April 17, 2025
Truly out-of-the-box tour with João!

A wonderful day trip with ARR Tours João’s vast knowledge of Portugal’s history and culture, combined with a great sense of humor, brought every location to life in such an engaging way. Highly recommended!

S
SHARON_S
December 9, 2023
Sintra

Tour guide was very polite, friendly, informative..however, I believe the tour description was misleading. We saw the town of Sintra, but never went close to nor saw the castle. We drove through Cascais but didn't have much time to explore. Not sure if it was due to the weather or how the tour was planned..just seemed we had little to no time anywhere

1 people found this helpful
Operator response

We appreciate your review, however we cannot agree when you say that our tour is misleading, as our company cannot control weather conditions! On the day of your tour, unfortunately, the day in Sintra was very cloudy and so you were unable to see the monuments in their entirety. I know you liked our services and our kindness towards our customers, as you hired us to continue with you to visit Lisbon, where you were able to see its castle. When you return to Portugal, we would be happy to return to Sintra with you!

C
Cynthia_S
October 17, 2023
A day in Lisbon

Views from the end of the earth, our driver had a lot of experience however did the tour in reverse so we shops were not open on Cascals when we stopped, and we could not get tickets to go to the Park in Sintra. We did not understand we should have bought online ahead of time. No clear direction from Viator

Operator response

Thank you for your review! We are changing the itinerary to include tickets and allow time for shopping. It will start with the visit of the park of pena palace And past from four to eight hours. We count on our customers to provide an increasingly better product.

C
Carmen_S
September 13, 2023
Good overall experience

Driver was knowledgeable and patient. Pena palace was quite crowded, and tour took twice as long, so made rest of trip too quickly/fast.

Operator response

Thank you for your review! About the crow in Pena Palace we can´t solve it. We always advice outher momuments when clients don´t like crows, but Pena Palace is like that.

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