Pena Palace
Urban Exploration

Enter your dates to find available activities

Our most recommended Pena Palace Urban Exploration

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. 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.

...
From Lisbon: Full-Day Private Sightseeing Tour of Sintra

2. From Lisbon: Full-Day Private Sightseeing Tour of Sintra

Escape from Lisbon or Cascais and travel to Sintra on a full-day private sightseeing tour. Tour the Cultural Landscape of Sintra, a UNESCO World Heritage Site, at leisure, and take advantage of the flexibility of your itinerary by choosing the sites that interest you most. Admire the city's 19th-century Romantic architecture and consider visiting your choice of Pena National Palace, the Castle of the Moors, Monserrate Palace, and the Sintra National Palace. Consider exploring the nearby nature as well, including the Sintra Mountains and Sintra-Cascais Natural Park. You may also want to visit a local cafe or bakery to try out traditional Portuguese pastries.

...
Sintra, Cascais and Queluz Palace from Lisbon

3. Sintra, Cascais and Queluz Palace from Lisbon

Start your tour with a visit to the magnificent Queluz Palace, a mixture of baroque, rococo and neo-classicism that resulted in one of Europe’s most beautiful palaces. In Sintra sierra, enjoy the verdant hills, the bubbling springs of crystal-clear water, the parks covered with multitudes of flowers. The old village black stone pavements contrast with the old, colorful houses. Located in the middle of the mountain range, Sintra allows you to enjoy the surrounding fields and reveals the imposing Monte Magno. Visit the charming Pena Palace, the greatest exponent of Portuguese Romanticism. After lunch, continue your tour at “Land’s End”, Europe’s westernmost point, be dazzled by the breath-taking landscape and, after it, enjoy the town of Cascais, where you will have free time to wander the old streets and do some shopping. Return to Lisbon along one of the old continent’s most beautiful roads.

...
Sintra and Cascais: Full-Day Private Sightseeing Tour

4. Sintra and Cascais: Full-Day Private Sightseeing Tour

Embark a private sightseeing tour of historic Sintra and its stunning surroundings. Stop to see important sites along the way and enjoy exploring places not included on typical tourist routes. You’ll have plenty of time on this full-day trip to take in all the spots of historic importance and admire views of the area’s natural splendor. The tour is designed to be a full day of exploration, but the duration can be shortened if necessary, according to your scheduling requirements. You can also let the tour leader know your main areas of interest so the trip can be customized for you. After seeing the highlights of Sintra and the coastal village of Cascais, you’ll conclude the sightseeing program with a tasting some of Portugal's traditional pastries.

...
Lisbon and Sintra Combo: Tuk Tuk and Van Private Tour

5. Lisbon and Sintra Combo: Tuk Tuk and Van Private Tour

Explore Lisbon's historical center and discover the best viewpoints on this private two-hour electric tuk-tuk tour, crossing Alfama, Chiado, Bairro Alto, Graça and Mouraria districts. Each tuk-tuk can take up to six people and are the perfect solution for touring the narrow and hilly streets of Lisbon. With an amusing guide, you will learn everything you need to know about the city, its history, culture and best spots to hang around and have fun. On the next day, take a day trip in a luxurious van to the beautiful and fairy-tale Sintra, Cabo da Roca, Cascais and Estoril. Feel like you are a part of the Portuguese royalty when you visit the romantic Pena Palace, a UNESCO World Heritage Site, with stunning views over Sintra, the Moors Castle, and the natural park. Take photos of breathtaking views of Cabo da Roca's cliffs, the westernmost point of continental Europe. Dazzle yourself with the wonderful Guincho Beach, a paradise for surfers. Follow the Atlantic coast, passing by the rock formation Boca do Inferno until you reach Cascais. Admire the glamour of the charming and trendy city of Cascais and take a stroll at the bay or along the city’s elegant cafes. On the way to Lisbon, pass by Estoril, where Ian Fleming was inspired to create the James Bond 007 character.

...
From Lisbon: Full Day Tour of Sintra and Cascais

6. From Lisbon: Full Day Tour of Sintra and Cascais

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.

...
Lisbon, Sintra, Cabo da Roca, Cascais: Private 2 Days Tour

7. Lisbon, Sintra, Cabo da Roca, Cascais: Private 2 Days Tour

Start with a pickup from your hotel for a private tour to some of the most important sights of Lisbon. Begin the tour at Eduardo VII Park, one of Lisbon's best viewpoints. Continue to downtown Baixa passing by the Marquês de Pombal roundabout, Avenida da Liberdade, Restauradores, Rossio, and Praça do Comércio. End this part of the visit at the Portas do Sol viewpoint with the Tagus River at your feet. Head to the Belem district, where the Age of Discovery was set in motion. Be amazed by the Tower of Belém and the Jeronimos Monastery. Visit one of the oldest pastry shops in Portugal to taste a famous Pastel de Belém. Explore the Expo98 territory where modernity meets the city and invites you to have a glance at 21st-century architectural masterpieces. Journey to Sintra, Cabo da Roca, and Cascais from your hotel. After a short trip from Lisbon to Sintra, you will get the full Pena Palace experience. This palace seats on top of the Sintra Mountain and offers magnificent views of all the surrounding territory. Stop at the historical center of Sintra and admire the Town Palace and the Moorish Castle. While visiting some of the narrow alleys, visit the Piriquita pastry shop to taste a delicious Travesseiro de Sintra. Cross the Mountain of Sintra, home to the Natural Park of Sintra Cascais. Reach Cabo da Roca and feel the fullness of nature as you stand on the most western point of Continental Europe facing the Atlantic Ocean on top of a 460 feet high cliff. Finally, stop in Cascais, a former fishing village with a special flair. Throughout the tour, your local guide will accompany you on a unique experience always willing to meet your needs and share Lisbon citizens' culture and lifestyle.

...

Other Sightseeing Options in Pena Palace

Want to discover all there is to do in Pena Palace? Click here for a full list.

What people are saying about Pena Palace

We had Joao as our tour guide and absolutely loved our experience. Our group was quite small (only 5 of us total) and we ended up sticking together for lunch in Sintra. We had a blast together! Joao was super friendly and kind, and made sure to check in with each of us throughout the trip. He was very informative and gave a fun overview of Portugese history along with the Pena Palace tour. Thank you for a lovely tour!

Lovely tour with a great person, Nuno. Didn't know when time has passed and I recomand this from my heart. A living fairytale, this part of the country. All the best, Nuno!

Portuguese culture at its finest! Big shout out to Nuno & Maria for being a part of a great day seeing some beautiful scenery - muito obrigado a todos :)

Our tour guide was fantastic and the whole trip was a must see!

Well organized tour. Awesome guides with outstanding attitude.