Day trip

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

Activity provider: Go and See Tours
Day trip

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

Activity provider: Go and See Tours
Likely to sell out

From US$ 75.59 per person

Likely to sell out

Experience an adventure full of secrets and mysteries in this private or shared group tour. Discover forests, beaches, Sintra Palaces and visit Cape Roca and Cascais.

About this activity

Free cancellation
Cancel up to 24 hours in advance for a full refund
Reserve now & pay later
Keep your travel plans flexible — book your spot and pay nothing today.
Covid-19 precautions
Special health and safety measures are in place. Check your activity voucher once you book for full details.
Duration 8 hours
Check availability to see starting times.
Skip the ticket line
Live tour guide
English, Portuguese, Spanish, French, Italian
Pickup included
Please wait in the hotel lobby 10 minutes before your scheduled pickup time.
Private or small groups available


  • Visit the most beautiful Palaces and Parks in Sintra
  • Enjoy the magnificent view at Roca Cape, the westernmost point of Continental Europe
  • Feel the typical Cascais glamour and enjoy the beautiful Estoril Coast
Full description

Embark on a full-day trip to Sintra, Cabo da Roca, and Cascais from Lisbon, choosing between a private or a shared guided tour. Soak up the dramatic views at Cabo da Roca, the westernmost point of Continental Europe, and lose yourself in the narrow streets of Sintra.

After pickup from your hotel, make your way to Sintra and discover the medieval streets, castles, and palaces of this world heritage site. Learn about the colorful architecture and surrounding forest.

Continue towards the Atlantic Ocean to discover Cabo da Roca, the westernmost point of Europe. Drive along the sea and admire Guincho Beach's enormous sand bed, which hosts many international surfing events due to its gigantic waves.

Pass through Cascais and Estoril, both famous for their cosmopolitan environment, and finally visit Estoril’s world-renowned casino and beautiful gardens. Return to Lisbon by driving along the Estoril Coast, admiring the breathtaking sight of white-sanded beaches along the way.

  • Transport in an air-conditioned vehicle
  • Wi-fi on board
  • Guide
  • Food and drinks
  • Tickets to access monuments or other places visited
Not suitable for
  • People with mobility impairments
  • Wheelchair users

Select participants and date



Important information

What to bring

  • Passport or ID card

Not allowed

  • Smoking in the vehicle
  • Drinks in the vehicle
  • Food in the vehicle

Know before you go

  • By choosing a private tour option, you will be able to customize your own itinerary with flexible stops, making it a unique experience
Customer reviews

Overall rating

4.8 /5

based on 260 reviews

Review summary

  • Guide
  • Transportation
  • Service
  • Organization

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Star rating:

Dalila was the best tour guide I have ever had hands down!! She not only came with a plan. She stayed open to any places that I wanted to see or stop. Between her thoughtfulness, kindness, and all the magical touches. She added this tour can’t be beat. She was knowledgeable and educated on all the locations we stopped, giving great information along the way. I learned so much about the Portuguese culture and went away with an amazing experience. If you are headed to Lisbon and want to go to Sintra this is the tour for you. 10/10 ⭐️⭐️⭐️⭐️⭐️

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March 28, 2023

It was an amazing day that we learned so much about the history and architecture of Sintra palaces. Renato was an amazing guide: very hospitable and knowledgable. It is quite inspiring how passionate he is about his job! We started with Pena Palace( now we know that pena means cliff ) and then had time to spend in city of Sintra. Renato made sure that we tasted all the famous deserts of Sintra and also we had a great local restaurant experience. Later we moved to Jardim de Quinta da Regaleria where we learned about the secret challenges in the cave. We finished our trip with visiting the “End of the World” and the city of Cascais. Thank you so much Renato for the unforgetable travel experience and we are looking forward to come back and visit Portugal again ! ❤️

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March 28, 2023

Antoine was wonderful! He knew the history very well and presented it in a very enjoyable way, he was very punctual yet also accommodating, his suggestions were spot on, And the group who joined us was really fun. I recommend this tour, and Antoine specifically. I wouldn’t have preferred this tour being done any other way.

March 28, 2023

Product ID: 130908