Lisbon to Sintra, Cascais and Cape Roca: Private guided tour
Private tour with a local expert
9h 45mRound tripPrivate group
Trusted by 1+ million happy travelers across 120 countries
Reviews
Tripadvisor Travelers’ Choice 2024
4.9
5176Reviews
About your trip
Spend the day exploring with an expert guide in some of the most historically rich places near Lisbon, starting with the fairytale town of Sintra’s romantic architecture and meandering streets. Then, head to Cascais to enjoy seaside life and take a guided hike along scenic cliffs. Finish the day at Cape Roca for unmatched views at mainland Europe’s Westernmost point.
Exclusively yours: A premium experience for your group only
Insider insight: Local tips and stories you won’t find online
Perfect balance: Expert guidance with freedom to explore
Ideal for all travelers: Families, friends, or solo adventurers
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
Begin with a quick 15-minute visit to the elegant Queluz Palace and Gardens before immersing yourself in Sintra for three and a half hours of fairytale palaces and enchanting landscapes. Continue to the sophisticated coastal town of Cascais for three hours of seaside charm, then finish with 45 minutes at Cape Roca, mainland Europe's westernmost point with its dramatic Atlantic views. Your guide, who is also a professional driver, manages a seamless journey that allows you to savor each destination without worrying about navigation or timing.
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
From €119
per person
Select date and travelers
Free cancellation up to 24 hours before your pickup time.
For a group of 1-3 travelersTotal€357
Your trip at a glance
Your trip at a glance
Start in Lisbon
You choose the pickup spot.
1
Queluz Palace and Gardens (photo spot)
We’ll stop at this perfect photo spot – take a moment to capture the view!
Stop: 15 min - admission not included


Your guide can take pictures of your group at Queluz National Palace, a stunning 18th-century royal residence featuring Rococo architecture and formal gardens.
2
Sintra
Feel free to explore at your own pace and discover
Stop: 3 h 30 min - admission not included






3
Cascais
Feel free to explore at your own pace and discover
Stop: 3 hours - admission not included





4
Cape Roca
Feel free to explore at your own pace and discover
Stop: 45 min - admission not included




Back to Lisbon
We’ll take you back to your starting point.
Duration of the stops can be changed upon request after booking
Have questions or need help?Contact our Customer Support. We are available 24/7
Daytrip is loved all around the world. Here's why.
Know more about your day trip
With 3.5 hours in Sintra, focus on either Pena Palace with its colorful fairytale architecture and mountain views, or the mysterious Quinta da Regaleira with its initiatic wells and underground tunnels. The National Palace in the town center with its distinctive conical chimneys offers a third option requiring less travel time. Most visitors choose Pena Palace for its iconic status, but discuss your interests with your private driver-guide who can advise on current conditions including wait times and transportation options between sites.
Cape Roca (Cabo da Roca) is continental Europe's westernmost point, where sheer 140-meter cliffs drop dramatically into the Atlantic Ocean. During your 45-minute visit, enjoy spectacular panoramic views across the rugged coastline, visit the lighthouse, and obtain a certificate confirming your visit to this geographic landmark. The site features a stone monument with a cross and a famous quote from poet Luís de Camoes describing the spot as "where the land ends and the sea begins."
During your 3-hour Cascais guided tour, you'll explore the charming historic center with its pedestrian shopping streets, the beautiful Praia da Ribeira beach, and the marina area. Don't miss the Santa Marta Lighthouse Museum, the Citadel Palace, and the Boca do Inferno ("Hell's Mouth") rock formation just outside town where Atlantic waves crash spectacularly through a natural arch. Cascais offers a perfect blend of historical sites coastal scenery and upscale shopping and dining options.
This comprehensive day tour allocates approximately 3.5 hours for Sintra's palace, 3 hours for Cascais with its coastal charm, and 45 minutes at Cape Roca for dramatic Atlantic viewpoints. Your driver and private guide will manage timing between these destinations, which form a natural geographic loop from Lisbon. This schedule allows sufficient time to experience the highlights of each location while enjoying the scenic coastal and mountain roads connecting them.
Sintra's attractions are spread across a mountainous area with limited parking. Your private driver and guide is a local expert who knows the best way to see all the sites. Start early to avoid midday crowds, particularly at Pena Palace. Consider having lunch in Sintra's historic town center between palace visits. Your guide can advise on the most efficient route based on current conditions and your specific interests.
Pack layers for changing conditions, as temperatures can vary significantly between coastal Cape Roca (often windy), mountaintop Sintra (cooler), and seaside Cascais. Comfortable walking shoes are essential, particularly for Sintra's palaces which involve uphill paths and many stairs. Bring sun protection, water, and a light jacket even in summer. A small backpack is useful for carrying essentials while keeping hands free for photography and exploring narrow palace passageways.
In Sintra, sample the famous travesseiros (almond and egg cream pastries) and queijadas (cheese and cinnamon tarts) at the historic Casa Piriquita bakery. Cascais offers excellent seafood restaurants serving fresh catch; try ameijoas a Bulhao Pato (clams in garlic and cilantro) or arroz de marisco (seafood rice). For quick local flavors, Portuguese custard tarts (pasteis de nata) are available at cafes in all locations. Your driver-guide can recommend authentic local establishments based on your preferences.
Explore similar trips from Lisbon
Frequently Asked Questions
If you have any questions, here are the answers.More Day Trips
Ravello to Amalfi and Salerno: Private day tripPortovenere to Lerici and Sarzana: Private day tripRovinj to Piran and Portoroz: Private day tripAssisi to Montepulciano and Pienza: Private day tripPuerto Vallarta to Nuevo Vallarta and Bucerias: Private day tripPiraeus to Mycenae: Private day tripLivorno to Monterosso al Mare and Vernazza: Day tripPuerto Morelos to Valladolid and Cenote Yokdzonot: Day tripPrague to Karlstejn and Karlovy Vary: Private, guided day tourAlbufeira to Lisbon: Private, guided full-day tourBrindisi to Locorotondo and Martina Franca: Private day tripSalzburg to Graz: Private day tripPalermo to Segesta and Erice: Private day tripPrivate guided tour: Merida to Chichen Itza and Mayan sitesTamarindo to Brasilito and Potrero: Private day tripAmman to Wadi Rum: Private day trip
Copyright © 2015–2025 Daytrip. All rights reserved.














