Cabo da Roca

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Cabo da Roca: Our most recommended tours and activities

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

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

Escape Lisbon and go on a full-day, guided journey to some of Portugal’s most popular locations stopping at the iconic Pena Palace in Sintra, the awe-inspiring cliffs of Cabo da Roca, and the ritzy seaside town of Cascais. Choose between the shared tour or private tour options. Your journey from Lisbon starts at the famous city of Sintra, whose Romanticist architecture, historic estates and villas, and numerous royal palaces and castles have made it a UNESCO World Heritage site. Enjoy the freedom of choice on whether you want an included entry ticket and tour of the colorful Pena Palace, or whether you prefer to gain some extra free time instead. Arriving early at Sintra means greater chances of avoiding long lines if you choose to go with your guide on a comprehensive tour through its lavish interiors and lush gardens. Marvel at the palace’s fairy-tale-like appearance, beautiful facade and extravagant interior. Next, head over to the center of Sintra and get 1.5-hour of free time to wander on your own. Get recommendations of the city’s must-see locations as well as the best restaurant options for delicious traditional Portuguese dining from your guide. Continue to Cabo da Roca, the westernmost point of continental Europe, and take in the impressive views of the ocean crashing against the high rocky cliffs. If weather permitting, stop at Guincho beach, whose strong winds and high swells have made it a popular surfing destination. Lastly, arrive in Cascais, an elegant seaside resort town on the Portuguese Riviera. Stroll through the lovely city center and make sure to check out Cascais’ luxury marina, its charming fishing port, and a restored fort that houses many local craftsmen. After your free exploration time in Cascais, relax back on board your air-conditioned minivan, and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

Sintra and Cascais Small Group Tour from Lisbon

2. Sintra and Cascais Small Group Tour from Lisbon

Discover a glorious “Garden of Eden” on a full-day tour of Sintra, a paradise resort of fairytale palaces and ornate architecture just outside Lisbon. Discover why this charming village delighted poets, artists, and authors, including Hans Christian Andersen and Lord Byron. Your tour includes a look inside Pena Palace, designed in a magnificent mix of Manueline and Moorish styles. Learn how its exotic and eclectic profusion of styles follows the rules of Romanticism. Pass the Castle of the Moors and enjoy breathtaking views from its towers. Next, drive to Cabo da Roca at the westernmost point of mainland Europe. Look at the wild Atlantic Ocean from Guincho Beach, and keep your eyes open for surfers on the waves of the Estoril Coast. Stop in the former fishing village of Cascais, now part of the Portuguese Riviera and a place of exile for European royalty. Head back to Lisbon along the “Marginal” road, following the Atlantic to see white sand beaches and magnificent 17th-century forts.

From Lisbon: Sintra and Pena Palace 5-hour Tour

3. From Lisbon: Sintra and Pena Palace 5-hour Tour

Benefit from pickup at your hotel, cruise terminal, or other location, and then travel to the UNESCO World Heritage monument of Pena Palace, one of the finest expressions of 19th-century Romanticism in the world. Marvel at the extravagant decorations and royal collections of the opulent interiors, and get amazing views from the rooftop cafe and terraces. You then head down to Sintra to enjoy some free time to shop or explore the historical center. Try the local queijada and travesseiro pastries, and take souvenir photos of the best-preserved medieval royal residence in Portugal at Sintra National Palace. Continue towards the historic estates of Seteais and Monserrate on the way to Cabo da Roca. Get panoramic views from the westernmost point of mainland Europe, and take souvenir photos of the surfers paradise of Guincho Beach. Visit the village of Cascais and take some free time to walk along the bay before the return journey to Lisbon (or other pickup point).

From Lisbon: Sintra, Cabo da Roca and Cascais Full-Day Tour

4. From Lisbon: Sintra, Cabo da Roca and Cascais Full-Day Tour

On this full-day tour you’ll discover Sintra, a UNESCO World Heritage Site. Admire the villa that’s surrounded by an amazing natural park, a castle, beautiful palaces and chalets. Take a walk along the medieval streets of Sintra an drive through the national park and see the rare fauna, the unique trees, the Moorish castle, Monserrate Palace and the chalets. Visit Pena Palace, one of the most impressive expressions of 19th-century Romanticism in architecture in the world and one of Portugal’s seven wonders. Say goodbye to Sintra with an optional visit to mystical Quinta da Regaleira, a palace surrounded by luxuriant gardens, lakes, caves and enigmatic constructions that hide obscure alchemist meanings, evoked by Freesmasons, Knights Templar and Rosicrucians. Continue on to the westernmost point of continental Europe at Roca Cape. Travel along the coast and embrace the Atlantic, and stop in Cascais and Estoril, once retreats for the royal family and the European aristocracy.

From Lisbon: Sintra and Cascais Small Group Full-Day Tour

5. From Lisbon: Sintra and Cascais Small Group Full-Day Tour

Depart Lisbon and journey by air-conditioned, 8-seat vehicle to Pena Palace atop a rock overlooking the Atlantic Ocean. Hear the romantic story of the palace and feel like a member of the Portuguese royal family. Then, head to Cabo da Roca for panoramic views from continental Europe’s westernmost point. Pass the stunning beaches of Cascais, including the scenic Praia do Guincho. Experience the mystery of the Devil's Mouth cave, created by the crashing of the waves on the rocky bluff. Stop in the elegant resort town of Cascais, favored by the nobles of Europe for its idyllic setting. Stroll along the harbor before traveling back to Lisbon.

From Lisbon: Sintra and Cascais Day Trip with Pickup

6. From Lisbon: Sintra and Cascais Day Trip with Pickup

Escape the hustle and bustle of Lisbon on a full-day tour of Sintra and Cascais. Discover the whimsical architecture of the town centers and Sintra Natural Park. Following a pick-up from your hotel in Lisbon, transfer by air-conditioned, 8-seat vehicle to the extravagant Pena Palace, perched on a rock that overlooks the coastline of Lisbon. Marvel at is a mix of Moorish and Manueline motifs, and enjoy panoramic views of the surrounding woods. Head to Cabo da Roca, continental Europe’s westernmost point, and get a souvenir certificate inscribed with the words "Where the Land Ends and the Sea Begins" by Camões. Pass the stunning beaches of Cascais, including Praia do Guincho, the most scenic beach on the Lisbon coastline. En route to Cascais, experience the mystery of the "Devil's Mouth” cave, created by the crashing of the waves on the rocky bluff. Stop in the elegant resort town of Cascais, a once quiet fishing village that was discovered by the European nobility for its idyllic setting, and became a favorite destination for the international jet set. Stroll along the harbor, before transferring back to Lisbon.

From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

7. From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

Discover Sintra, so-called the “Garden of Eden” by Lord Byron. Tour its paradisiacal streets and gardens and admire the ornate palaces, villas, and estates throughout this colorful city. See Pena National Palace, famed for its romantic architecture and recognized as a UNESCO world heritage site. Located approximately 500 meters above sea level, soak up the stunning city views over Sintra. Continue to Sintra's Quinta da Regaleira and take a guided tour of the palace, lush gardens, lakes, grottoes, and enigmatic constructions. Learn about its connection with the Freemasons and the Knights Templar. Head to Cabo da Roca, the most western point of mainland Europe, passing Guincho Beach. Experience the Portuguese Rivera as you drive along the Estoril Coast and visit the village of Cascais. See why many exiled European royalty choose to live there.

From Lisbon: Sintra, Cabo da Roca & Cascais Ful-Day Tour

8. From Lisbon: Sintra, Cabo da Roca & Cascais Ful-Day Tour

This tour will take you to Sintra, a world heritage site, where medieval streets, castles, palaces, and chalets of diverse architectures coexist, inserted in a natural park that shows plants from diverse parts of the world, forming a vast and magical green forest.  On arrival at Sintra, beside the Centro Historico (Historical Centre), there are nearby a lot of interesting points to visit, such as, Sintra National Palace, the Pena Palace, Seteais Palace, Monserrate Palace, Parque Natural de Sintra and Quinta da Regaleira. Onwards, travel towards the Atlantic Ocean, to discover Cape Roca, the westernmost point of Europe. Travel along the sea and admire Guincho Beach enormous sand bed, which hosts many international surfing events due to gigantic waves. Pass through Cascais, and Estoril, both famous for their cosmopolitan environment, and finally visit Estoril’s worldly renowned Casino and beautiful gardens. Return to Lisbon driving along the Estoril Coast admiring the breath-taking sight of white sanded beaches along the way.

From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

9. From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

Escape noisy Lisbon on a visit to nearby sites of natural and architectural beauty. See Sintra's historic center, Pena, Cascais, and more on this day excursion. On this full-day tour, start off with a walk-in Pena Park. Feel like royalty in Pena Palace while your guide explains its history. Marvel at the views of the surrounding landscape and the Atlantic Ocean. If you choose the option without the Pena Palace ticket, enjoy free time in the old town of Sintra. Next visit Sintra's historical center. Enjoy lunch or visit the National Palace. Continue on with a drive through the Sintra Mountains. Stop at the great cliffs at Roca Cape, which are the westernmost point of continental Europe. The last stop of the tour is the stylish town of Cascais, where you can take a relaxing walk along the bay before heading back to Lisbon.

From Lisbon: Full-Day Tour of Sintra and Cascais with Locals

10. From Lisbon: Full-Day Tour of Sintra and Cascais with Locals

Travel to the wonderfully preserved city of Sintra on this day trip from Lisbon. Have some free time to explore the Old Town and go to the whimsical Pena Palace. Head to the coast to viewpoint at Cabo da Roca and the seaside resort town of Cascais. Be picked up from your accommodation in Lisbon. Sit back and relax on the scenic drive through the countryside to Sintra. Take some time to explore the vibrantly colored hilltop castle of Pena Palace or wander through the cafes, boutiques, historic estates and villas in the Old Town.  Continue to Cabo da Roca where you can stand at the westernmost point of continental Europe. Snap some breathtaking shots of the impressive views of the ocean crashing against the high rocky cliffs. Finally, arrive in Cascais, an elegant seaside resort town on the Portuguese Riviera. Stroll through the lovely city center and check out Cascais’ luxury marina, its charming fishing port, and a restored fort that houses many local craftsmen.

Other Sightseeing Options in Cabo da Roca

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What people are saying about Cabo da Roca

Overall rating

4.8 / 5

based on 11,214 reviews

If you are a couple, a solo traveler, or a small group of three, looking for a truly personal and private tour of the outskirts of Lisbon—Sintra, medieval and seaside towns, palaces, castles, and sunsets—taking a tour with Iain is the way to go. Iain will drive you around in his convertible that is clean and spacious enough. He is a very responsible driver. Iain can come up with a one-of-a-kind tour that caters to the specific places you want to visit and see. He is kind and respectful of your time and interests. He communicated with me even before I arrived in Lisbon and suggested various options we could do for the tour, making sure there were no glitches or surprises on the day of the tour. However, he was still flexible enough to make tweaks and changes if need be on the day of the tour. Especially for couples and those who want to make their Portugal trip a more memorable even romantic experience, I recommend a tour with Iain at the helm. It’s the best way to go.

I had a truly amazing day with this group and the guides. Everything went smooth and the guide gave a lot of interesting information about the places we went to. He did a fantastic guided tour with detailed information at the besutiful palace in Sintra. I enjoyed seeing all that original furniture and items that were used by the king and queen… I imagined how they lived in the palace while walking through and listening to the guide‘s infos. What‘s more, I met fantastic people - other single travellers - and had a great time with them. This just was really great - everything! There is just one tiny thing I wished was better: 20 minutes if time at the capo da roca isn‘t enough. If you really want to enjoy the actual atmosphere of that place. Nevertheless, I would do this tour again… Thanks for the great day! :)

I think our tour guides name was Givonni. He was awesome and made the tour very enjoyable. He gave us some great information about everything we were looking and made sure we were early at the palace to surpass any major lines. He was also very funny which I always appreciate. HIGHLY recommend!

Perfect tour, small group, our guide Diego knowledgeable, presented the information with insider ‚tips‘ and humour. Relaxed, enjoyable tour !

The best experience in Lisbon ! Nounou the guide was amazing The trip was fantastic