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Discover Sintra's palaces, Quinta de Regaleira, and Atlantic beaches, along with the scenic coast of Cascais on this full-day private tour from Lisbon.

This private tour from Lisbon offers a comprehensive exploration of some of Portugal’s most stunning sights, all for $171 per person. With a duration of 8 hours, it provides a well-paced visit to Sintra’s iconic palaces, Quinta de Regaleira, and the breathtaking Atlantic coastline of Cascais. The tour is designed for those interested in comfortable, guided sightseeing, including visits to Pena Palace, Cabo da Roca, and Boca de Inferno, along with stops at Adraga Beach and the charming village of Cascais.
The tour emphasizes scenic drives, panoramic views, and photo opportunities at each stop, making it ideal for visitors who want a thorough yet relaxed day out. An added benefit is the hotel pickup and drop-off, plus private transportation, ensuring a smooth experience. The only considerations are that it involves walking around hilly sites like Pena Palace and Quinta de Regaleira, and admission fees are payable separately.
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Planning more time in Sintra? We've covered other experiences worth considering.

This tour departs from three pickup points: Lisbon, Cascais, and Estoril, making it flexible for travelers staying in different parts of the region. The guide leads you in an air-conditioned vehicle, providing a comfortable journey between stops. After a full day of sightseeing, the driver drops you back at your original pickup point or hotel, ensuring a hassle-free experience.
The private group setting means the tour is tailored to your preferences, with the option to customize parts of the day. This is ideal for travelers who want a more personalized experience compared to large group excursions.

The tour’s highlight is Pena Palace, one of the most recognizable landmarks in Sintra. Known for its colorful architecture and romantic style, the palace offers spectacular views over the Sintra mountains and beyond. You’ll have about 2 hours to explore the palace interiors, terraces, and beautiful gardens, which are a major reason this site is a must-visit.
Walking around Pena Palace involves climbing stairs and some walking, so comfortable shoes are essential. The scenic drive to the palace also provides great viewpoints, and the guide shares insights into the history and architecture of this 19th-century masterpiece.
Next, the tour takes you to Quinta de Regaleira, a romantic palace surrounded by an enchanting park filled with tunnels, wells, and symbolic structures. With 1.5 hours allocated for this stop, visitors can explore the chapel, palace, and park, which are rich with mysterious features and romantic architecture.
This site is perfect for those interested in quirky details and romantic design elements. The walk around the park involves some walking and stairs, again making comfortable footwear advisable.
More Great Tours NearbyPraia da Adraga is a picturesque inlet on the North Atlantic, offering a peaceful setting for photos and relaxation. The tour includes a 30-minute stop here, giving travelers time to take in the dramatic cliffs and crashing waves.
This beach is known for its natural beauty and seclusion, making it perfect for photographs. It’s a relatively short stop, so bringing a camera or phone for photos is recommended, along with comfortable shoes for walking on uneven ground.

Cabo da Roca is the most westerly point of continental Europe, offering spectacular ocean views and a chance to stand at the edge of the European continent. The 15-minute stop here is an opportunity to enjoy panoramic vistas and take memorable photos.
The site features a lighthouse and rugged cliffs, with some walking involved to get around the viewpoint. The guide shares interesting facts about the location’s geography and history.
Boca de Inferno, or “The Mouth of Hell,” is a dramatic rocky formation where the Atlantic waves crash with force. The 25-minute stop includes photo opportunities and sightseeing along the rocky cliffs.
Visitors can watch the powerful waves collide with the rocks, creating natural foaming and roaring sounds. This stop is especially engaging during windy or stormy weather, which enhances the dramatic effect.

The tour concludes with a visit to the picturesque village of Cascais, renowned for its coastal charm and harbor. Here, you’ll have about 30 minutes to walk around, take photos, and soak in the relaxed seaside atmosphere.
Cascais offers scenic streets, traditional cafes, and marinas, making it a pleasant place for a brief exploration. The stop provides an opportunity for some free time before heading back to your accommodation.

This full-day private tour includes hotel pickup and drop-off, and air-conditioned private transportation, ensuring comfort throughout the day. The reserving process allows for free cancellation up to 24 hours in advance, providing peace of mind.
You pay nothing upfront, and the guide speaks English, making communication straightforward. The tour is designed for adults who are able to walk and climb stairs, as it is not suitable for people with mobility impairments or heart problems.
This tour appeals most to travelers who value guided, personalized experiences with flexibility. The 8-hour schedule balances sightseeing with enough time to enjoy each stop without rushing. It’s ideal for those interested in architecture, coastal scenery, and scenic drives.
The inclusion of scenic coastal stops and well-known landmarks makes it suitable for first-time visitors to Lisbon who want an overview of Sintra and Cascais in a day. However, those with mobility issues should consider other options, as walking and stairs are involved.
This tour provides a comprehensive, comfortable, and well-paced way to see some of Portugal’s most iconic sights in a single day. The private setting and expert guide are significant advantages, especially for travelers seeking a tailored experience.
While the admission fees are not included, the scenic highlights and beautiful locations make the $171 price a good value. Travelers who appreciate stunning architecture, coastal vistas, and personalized service will find this tour a rewarding addition to their Portugal trip.
“Amazing tour! Our guide, Victor, was so kind and knowledgeable and made the day so memorable for us! He customized the tour to our liking and even …”
Does this tour include entrance fees?
No, the admission tickets for Pena Palace and Quinta de Regaleira are not included and must be purchased separately.
What is the duration of the tour?
The tour lasts approximately 8 hours, with departures at various times based on availability.
Is this tour suitable for children or people with mobility issues?
The tour involves walking and climbing stairs at sites like Pena Palace and Quinta de Regaleira, so it is not suitable for those with mobility impairments or health issues requiring wheelchair access.
What should I bring?
Comfortable shoes are recommended because of walking involved at several sites. Bringing a camera and sunglasses is also advisable.
Can I cancel this tour?
Yes, you can cancel up to 24 hours in advance for a full refund.
Is the tour private?
Yes, this is a private group experience, allowing for personalized attention and flexibility.
What languages are available for the guide?
The tour guide speaks English, ensuring clear communication.
Where does the tour pick up and drop off?
Pickup and drop-off are available at Lisbon, Cascais, or Estoril, based on your preference.
How long is the stop at each location?
Stops vary from 15 minutes at Cabo da Roca to 2 hours at Pena Palace, with the overall schedule designed for a balanced day.
What makes this tour stand out?
The combination of iconic landmarks, scenic coastal stops, and personalized service distinguishes this tour as a comprehensive experience of Sintra and Cascais.