Pena Palace
Walking Tours

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Our most recommended Pena Palace Walking Tours

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.

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From Lisbon: Sintra Highlights Full-Day Tour

2. From Lisbon: Sintra Highlights Full-Day Tour

Fall in love with magical Sintra, the lasting symbol of Portugal's Romantic period. Its stunning landscape is classified as a UNESCO World Heritage of Humanity site that is begging for exploration. Start the tour with a walk through the city center of Sintra and go to the decorative Quinta da Regaleira estate to explore the famous initiation well and the many lakes, fountains and the aquarium dotted across its grounds. The journey continues to the eclectic Monserrate Palace, a glorious estate that once served as a summer residence for the Portuguese court. Lunchtime will be spent wandering around the historical village, followed by a quick stop at local patisseries where you can try some of Sintra's well-known delicacies. Continuing on to the exotic Pena Park, come across the magnificent Pena Palace, a remarkable building complete with different decorative styles, symbols, and intriguing features.  

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From Lisbon: Sintra, Regaleira and Pena Palace Guided Tour

3. From Lisbon: Sintra, Regaleira and Pena Palace Guided Tour

Benefit from a guided tour inside the Quinta Regaleira and Pena Palace. Fall in love with Sintra, a village full of magic and mystery, the lasting symbol of Portugal's Romantic period and also classified as a UNESCO World Heritage site. Opt to treat yourself and loved ones to a private experience with your own guide and pickup from your own hotel. Alternatively, you can get picked up from a convenient location in the center of Lisbon. Accompanied by an enthusiastic and dedicated tour guide, you will visit Quinta da Regaleira and enjoy its lush gardens, lakes, grottoes, and enigmatic constructions, including the world-famous Initiation Well. Uncover the mysteries of each place and learn about the orders of the Freemasons and the Knights Templar. During the lunch break in Sintra's old town, you will have free time to explore the historical and charming streets. You will also have time to taste the traditional pastry, travesseiro. After buying your entry ticket with your guide, feel like you're stepping into a fairy tale when you enter the romantic Pena Palace and Park. Understand its unique architectural expression of Romanticism. Spot how it blends many styles, including Gothic, neo-Manueline, neo-Islamic, and neo-Renaissance. Stroll around the park with its astonishing variety of plants and trees. Marvel at the palace's amazing views of the castle and the Atlantic Ocean, a perfect way to end the day before returning to Lisbon.

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Secrets of Sintra and Cascais Private Tour

4. Secrets of Sintra and Cascais Private Tour

Travel along the Marginal Avenue, a winding waterfront road with sweeping views of the Tagus River and the Atlantic Ocean. You will see beautiful views, white sandy beaches, fishing vessels, ancient fortresses and old mansions. Passing by Estoril, you'll see the largest casino in Europe. At Cascais, take your time to walk around the scenic fishing village and a former vacation destination for the Portuguese Royal family. Bask in the narrow alleys and see the traditional Portuguese white houses, the stunning beaches and relaxing shores. Get sweeping ocean views from Cabo da Roca, the most western point of Europe. This place, “where the land ends and sea begins”, mastering the turbulent waters up to 140-meters high crushing loudly against the rocks offers a beautiful view of the wild coastline. Get your camera ready because Cabo da Roca is a real-life postcard. Sintra is a magical, mountainous villa where all monuments have a majestic architecture full of stories and unraveling mysteries, stunning Gardens, centenary trees and ancient castles await you! But first you will be taken throw the historic center where you will see the traditional Portuguese narrow streets and take pictures of the mesmerizing medieval National Sintra palace and its iconic chimneys. Quinta da Regaleira, one of the most romantic places on planet Earth. The property has 4 hectares of luxurious gardens, an impotent palace with surrounding towers, a Chapple, enigmatic grottoes and countless mysteries and secrets for you to discover. Passing through the Seteais Palace, you will see this neoclassical palace which is now a luxury hotel, restaurant and a tourist attraction included in the Cultural Landscape of Sintra, listed as World Heritage Site by UNESCO. Many famous personalities such as Agatha Christie, Harrison Ford, Brad Pitt, and Johnny Deep have stayed at this fantastic place. Pena Palace, an extravagant palace built on top of the mountain at 500 meters of Altitude dominates the whole of the coastline and is truly an image taken from a fairy-tale. This building is a mixture of Moorish and Manueline, architecture and is definitely a most see in Sintra. At the end of your day of guaranteed adventures you'll be dropped off back at the place you initially met. But before you return, have a taste and experience the most delicious traditional wine (not available on Sundays) and finger food.

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From Lisbon: Half-Day Tour to Sintra and Pena Palace

5. From Lisbon: Half-Day Tour to Sintra and Pena Palace

Start your small-group tour at the designated meeting point in Lisbon. Board a comfortable minivan and head off to the romantic and fascinating town of Sintra, located just outside of Lisbon. After a short, scenic drive you will arrive in Sintra. With the recommendations of your knowledgeable guide, discover why Sintra has seduced and inspired so many novelists and poets. Begin your discovery of Sintra at Pena Palace and admire a structure built during the age of Romanticism. After learning about the history of the palace and admiring its stunning design, visit the historic center of Sintra. Stroll through the narrow winding streets in the village and discover a variety of shops with typical regional products. Stop at the famous Piriquita Tea House for a break, followed by a drive back to Lisbon.

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From Lisbon: Full-Day Tour to Sintra and Cascais by Car

6. From Lisbon: Full-Day Tour to Sintra and Cascais by Car

Your guide will pick you up in a location of your choosing and will take you along the coast all the way to Cascais, stopping in Boca do Inferno, which is a rocky formation different from anything you've ever seen! From there, you'll be headed to Cabo da Roca to marvel at the view of the ocean, it was known as the end of the known world, the most western point of Europe. Afterward, it's time to have lunch by the coast so you can rest, enjoy some local seafood and be ready for the second part of your tour! You will be visiting two palaces in Sintra, Quinta da Regaleira and Palácio da Pena, both of these locations are filled with both history and myth, be ready to be smitten by the wonders of these magic-filled places. To finish your tour, you'll be taking a walk through the village of Sintra where you'll be able to enjoy the local pastries. After exploring Sintra your guide will drop you off at your desired location.

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Sintra & Cascais Small Group Day Tour from Lisbon

7. Sintra & Cascais Small Group Day Tour from Lisbon

Spend an entire day exploring Lisbon's surroundings on a tour that takes you to Sintra and Cascais. First visit the mysterious and fascinating village of Sintra, a UNESCO World Heritage Site, to explore its natural landscapes and cultural and natural heritage. Upon exploring the village, you will feel as though Sintra seems to have come straight from a fairy tale, with its many palaces and Romantic architecture. You will have time to enjoy lunch among the splendid scenery and may choose to enjoy a traditional meal at a local restaurant, or bring your own lunch and eat outside. Next, it is time to cross the mystic mountain of Sintra towards the Atlantic Ocean. Along the way, you will have the opportunity to see the quaint Colares village and to learn more about local wines dating to the 13th century. You’ll also see Praia das Maçãs, a small and popular local beach. Reaching the coast, you will make a stop in one of the most picturesque seaside towns, Azenhas do Mar, which has a stunning view overlooking the Atlantic Ocean. Next, you will be taken to the westernmost point of continental Europe. From here, you will climb down to the beach. Continue on to Cascais, a former fishing village that gained fame as a resort for Portugal's royal family in the late 19th century and early 20th century. At the end of the tour you will dropped off at the original departure point.

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Sintra - Cascais Estoril - Full Day Tour

8. Sintra - Cascais Estoril - Full Day Tour

The enchanting town of Sintra makes the westernmost point of continental Europe much more than a place of geographical interest. This full-day private tour will give you a perspective you can only get by standing on the edge of the world. Though it is only 30 kilometers from Lisbon, this place "where the land ends" has a fresh climate and luxuriant vegetation that combine with unique architecture and a legendary charm to make it deeply romantic and mysterious. The ancient Moorish Castle of Pena Palace, built atop a cliff and the National Palace in the town center contributed to Sintra being named a World Heritage Site in 1995. But long before that it inspired famous writers including Hans Christian Anderson and Lord Byron, who called it "the most beautiful [village] in the world." First, stop at Sintra village, a delightful Portuguese town that is situated within the hills of the Serra de Sintra. Concealed within these pine covered hills are extravagant palaces and opulent mansions. Pena Palace, once the summer residence of Portugal's royal family, is the next stop. It dominates the coast to Lisbon. After lunch, visit Cabo da Roca, the actual western tip of the continent, where turbulent waters crash loudly against rocks rising to 140 meters in height and offering a beautiful view of the wild coastline. Boca do Inferno (mouth of hell), a steep cleft where the waves hit harder and louder, is nearby. A visit to Cascais, a fishing village established in the 12th century and well preserved until today, is the last stop before returning to Lisbon.

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Lisbon: Full-Day Sintra Tour with Pena Palace

9. Lisbon: Full-Day Sintra Tour with Pena Palace

Revel in Sintra, a designated UNESCO World Heritage Cultural Landscape, with a breathtaking tour of Pena Palace followed by a stop in Sintra Village. Then visit Colares, renown for its wine making, all the while enjoying famous views of the Portuguese coast. Explore the majestic and romantic Pena Palace, an astonishing fairytale castle, located on one of the highest peaks of the lush Sintra Mountain Range. At the end of the morning, stroll the streets of Sintra Village, which enchanted Kings and inspired poets. Enjoy local handicraft shops and tea-rooms to taste delectable sweets like "queijadas" and “travesseiros.” Then you'll travel to Cabo da Roca, the westernmost point in continental Europe. Relish scenic coastal views of Guincho Beach, a windsurfer's paradise, and Boca do Inferno, a famous seaside chasm with crashing waves, until we reach Cascais, a former fishing village which is now one of the richest municipalities in Portugal.

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From Lisbon: Sintra, Pena Palace, Cascais and Wine Tasting

10. From Lisbon: Sintra, Pena Palace, Cascais and Wine Tasting

The tour begins with a visit to the romantic Sintra Mountains. Classified by UNESCO as a World Heritage Site, the mountain range is full of palaces, mansions, cottages, convents, churches, chapels and shrines set amidst lush vegetation. It has been the inspiration for great authors of European literature, abundant in archaeological remains that show that it has been occupied over numerous millennia. You can stroll through charming streets in the historic center of Sintra. The tour will then climb the beautiful mountain roads to the most extravagant Portuguese palace, Pena Palace, a fascinating fairytale castle built in the romantic Portuguese style. Continuing the tour, visit the cellars of Adega Regional de Colares that have two centuries of prestigious history. Here you can enjoy the history of the winery, visit the cellar and taste its unique wines. Cabo Roca, the most western point of continental Europe, is the next stop. This is a stunning place of infinite blue that offers a superb view of the Atlantic Ocean at its most wild. Afterward, the tour will pass by the Guincho beach area and travel along the coast road until you arrive in Cascais, a sophisticated and charming village with a lovely bay. Marvel at the largest casino in Europe as you pass the Casino Estoril before heading back to Lisbon. Your guide will accompany you along the way, sharing stories and curiosities about the places visited. 

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Other Sightseeing Options in Pena Palace

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What people are saying about Pena Palace

Overall rating

5.0 / 5

based on 48 reviews

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.