Lisbon to Sintra, Cascais and Cape Roca: Private, guided tour
Private tour with a local expert
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About your trip
Spend the day exploring some of the most historically rich places near Lisbon with an expert guide, starting with a quick 15-minute visit to the elegant Queluz Palace and Gardens. From there, immerse yourself in the fairytale town of Sintra for three and a half hours, exploring its romantic architecture and enchanting, meandering streets.
Continue to the sophisticated coastal town of Cascais for three hours of seaside charm, where you can enjoy local life and take a guided hike along the scenic cliffs. Finally, finish your day with 45 minutes at Cape Roca, mainland Europe’s westernmost point, to soak up dramatic Atlantic views before your return journey.
What to expect
Your day trip begins wherever you are
Meet your guide right where you prefer in Lisbon whenever suits you best. No time wasted getting to the pickup point, grab your bag and start your trip right away.Discover more with local expertise
Your guide is both your expert behind the wheel and knowledgeable host throughout the day. They’ll manage the day’s itinerary, share stories and local knowledge, and make each moment along the route feel richer. At every stop, they’re by your side.Guided experience with space to explore
Perfect for any private group
Whether you're traveling solo, as a family with kids, or as a large group, this service is tailored for your comfort and flexibility. It's the ideal option especially if you have limited time or a busy schedule.Good to know
- Two-way private car transfer in an air-conditioned vehicle
- Personalized pickup and drop-off
- Private professional English-speaking driver-guide
- Complimentary bottled water
- Free cancellation 24 hours before departure
- Attraction admission details specified in the itinerary section below
- Official guided tours inside attractions in Queluz Palace and Gardens, Sintra, Cascais, and Cape Roca can be purchased separately - inform us in advance for itinerary planning
Your trip at a glance
Your trip at a glance








Enjoy a tour of Sintra, a fairytale-esque town nestled in hills, featuring romantic architecture and palaces.
Learn more about this enchanting town with a local guide, exploring the colorful Pena Palace, a UNESCO World Heritage Site boasting Romanticist architecture and a prominent hilltop location. Visitors can also explore Quinta da Regaleira, Moorish Castle, and the Palace of Sintra to learn more about the town’s history and culture. Your guide will accompany you to try the best local Queijadas de Sintra (sweet cheese tarts). Then, to cap off the stop, you can meander the surrounding Sintra-Cascais Natural Park, an idyllic setting to soak up the scenic views.





Take a guided tour of Cascais, a vibrant coastal town, known for its beaches and scenic cliffs.
Head west to enjoy a coastal escape in Cascais with a knowledgeable guide. Enjoy the relaxed vibe, incredible beaches, and coastal biking and walking paths. Or, head into the charming old town to explore cobblestone streets, artisan shops, and indulgent local seafood restaurants. Visitors to Cascais should see the town’s iconic marina as well as the Praia da Rainha (“Queen’s Beach”) and Boca do Inferno (“Hell’s Mouth”), an unforgettable sea cave featuring a towering stone archway. Cascais is the best place to enjoy a coastal sunset and a dinner of succulent, fresh-caught robalo grelhado.



















