The 15 Best Cabo da Roca Tours from Lisbon

Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais - Getting your bearings in Sintra

★★★★★★★★★★4.7 · 19,656 reviews · 570 minutes - 10 hours · from $23Our pick

Explore Sintra’s palaces, Regaleira’s mysterious well, Cabo da Roca and Cascais on a full-day guided trip from Lisbon.

“We had an excellent day trip which was led by our fantastic guide Caterina and driver Antonio(?). She was full of knowledge but also charismatic and so made the entire day interesting and enjoyable. The day flew by and we would highly recommend this as anyone looking to explore beyond Lisbon. Fantastic value for money.”

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

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

★★★★★★★★★★4.7 · 9,981 reviews · from $91

Review of Lisbon’s Pena Palace, Sintra, Cabo da Roca, and Cascais day trip, with practical advice on timing, value, guides, and what to expect.

“The variety of locations throughout the day. Can’t think of any improvements.”

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Lisbon: Sintra, Pena, Cabo da Roca, Cascais Tour with Pickup

3.Lisbon: Sintra, Pena, Cabo da Roca, Cascais Tour with Pickup

★★★★★★★★★★4.8 · 5,080 reviews · from $57

See Pena Palace, Sintra, Cabo da Roca, Azenhas do Mar, and Cascais on an 8-hour Lisbon minivan tour with hotel pickup.

“Our guide was wonderful. He had so much information to share and a lot of tips for us. Our day was spectacular”

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

4.Lisbon: Sintra, Pena Palace, Cabo da Roca, & Cascais Tour

★★★★★★★★★★4.9 · 3,509 reviews · from $56

Review of a small-group Lisbon tour to Pena Palace, Cabo da Roca, and Cascais, with practical advice on timing, tickets, transport, and value.

“The guide Tiago was fantastic with a broad knowledge and caring and fun personality Wouldn’t change anything Thanks so much”

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Lisbon: Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour

5.Lisbon: Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour

★★★★★★★★★★4.8 · 3,124 reviews · from $41

Review of Lisbon’s Sintra, Pena Palace, Cabo da Roca, Guincho, and Cascais day tour, with practical tips on timing, value, and crowds.

“An amazing day filled with beautiful areas and delicious food.”

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Guided Tour to Sintra, Pena, Regaleira, Cabo da Roca and Cascais

6.Guided Tour to Sintra, Pena, Regaleira, Cabo da Roca and Cascais

★★★★★★★★★★5.0 · 2,978 reviews · 10 hours (approx.) · from $95Top rated

Explore Sintra, Pena Palace, Regaleira, Cabo da Roca, Guincho Beach, and Cascais on a small-group day trip from Lisbon.

“We weren't sure how our day was going to go when we walked out into a day of rain and wind, but Patrick really went out of his way to make up for it. He takes his time and lets you take yours. Honestly, the rain made Quinta da Regaleira even more interesting as it added colors to the walls and the wind on Cape Roca was so crazy my kids loved it. One final note, the restaurant Patrick recommended was outstanding. It's a family run place that focuses on seafood and local dishes combined with a nice wine selection.”

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Sintra, Pena, Regaleira, Cabo da Roca & Cascais from Lisbon

7.Sintra, Pena, Regaleira, Cabo da Roca & Cascais from Lisbon

★★★★★★★★★★4.5 · 1,910 reviews · 9 hours (approx.) · from $119

Explore Sintra’s Pena Palace and Regaleira, Cabo da Roca, and Cascais on a nine-hour small-group tour from Lisbon.

“Our tour guide was amazing! She was informative and fun! We would recommend her to others. She had a lot knowledge about the tour and Lisbon in general”

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Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais Tour

8.Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais Tour

★★★★★★★★★★4.7 · 1,623 reviews · 9 hours · from $21Best value

Review of Lisbon’s Sintra, Pena Palace, Regaleira, Cabo da Roca and Cascais day tour, with practical tips on cost, walking and time.

“Fantastic day with this tour. Great guides and well paced. Lots of uphill walking though so some degree of fitness required”

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Sintra Cabo da Roca Cascais Estoril Private Tour

9.Sintra Cabo da Roca Cascais Estoril Private Tour

★★★★★★★★★★5.0 · 778 reviews · 8 hours (approx.) · from $260

See Sintra’s palaces, Cabo da Roca, Cascais, and Estoril on a flexible private tour from Lisbon with hotel pickup.

“Jorge was amazing. The tour operator saw that we were on a pedestrian street and sent us a screen shot of where to meet. Jorge was there early and waiting on us. He was super knowledgeable on history as well as where to go. He made seeing all of the sights so easy and fun taking out all of the stress! He even took us to an amazing restaurant with sweeping water views with amazing views! Highly recommend! Ask for Jorge!!!”

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Private Tour of Sintra, Cabo da Roca and Cascais with 2 Palaces

10.Private Tour of Sintra, Cabo da Roca and Cascais with 2 Palaces

★★★★★★★★★★5.0 · 770 reviews · 8 hours (approx.) · from $133

Review of a private Sintra, Cabo da Roca, and Cascais tour from Lisbon, with two palaces, hotel pickup, and a personal guide.

“Luís was really informative, knowledgeable and made us laugh a lot! Excellent guide and tour. Worth it hands down to visit Sintra with this company.”

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Sintra, Pena Palace, Cabo da Roca and Cascais from Lisbon

11.Sintra, Pena Palace, Cabo da Roca and Cascais from Lisbon

★★★★★★★★★★4.5 · 738 reviews · 8 hours (approx.) · from $53

Review of a Lisbon day trip to Pena Palace Gardens, Sintra, Cabo da Roca, and Cascais, with practical advice on value, timing, and guides.

“A very good guide MyriamWho was friendly and knowledgeable. We really enjoyed her commentary and personality. Very interesting places to visit. The biggest issue was the bathrooms or lack of enough of them at the places we visited, which made us late getting back to the bus because we had to stand in long lines for the WC. Everything else was nice and well run. We enjoyed our lunch a great deal at a place Myriam suggested.”

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Lisbon: Pena Palace, Sintra, Cabo da Roca & Cascais Day Tour

12.Lisbon: Pena Palace, Sintra, Cabo da Roca & Cascais Day Tour

★★★★★★★★★★4.9 · 556 reviews · from $40

See Pena Palace, Sintra, Cabo da Roca, and Cascais in one guided Lisbon day tour with coastal views and free time.

“Miguel was an excellent guide! Could not recommend any better guide for this trip. He is super understanding, knowledgeable about the history/culture and honestly a great pleasure. On top of that, he was giving Lisbon and Sintra facts in multiple languages.”

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Experience a magical day in Sintra, Palace of Pena, Quinta da Regaleira and Cabo da Roca from Lisbon

13.Experience a magical day in Sintra, Palace of Pena, Quinta da Regaleira and Cabo da Roca from Lisbon

★★★★★★★★★★5.0 · 549 reviews · 8 hours (approx.) · from $90

Explore Pena Palace, Quinta da Regaleira, Sintra, and Cabo da Roca on an 8-hour small-group tour from Lisbon.

“This tour is a must do and you definitely have to do it with Renata! If we could give her 10 stars, we would. She was not only an amazing person but a fantastic historian. Put this tour on your bucket list for Portugal.”

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Lisbon: Sintra, Quinta da Regaleira, Cabo da Roca & Cascais

14.Lisbon: Sintra, Quinta da Regaleira, Cabo da Roca & Cascais

★★★★★★★★★★4.9 · 524 reviews · from $74

Explore Sintra, Quinta da Regaleira, Cabo da Roca, Guincho, and Cascais on a flexible six-hour small-group tour from Lisbon.

“It was an excellent tour. Agnes and Paulo were both very friendly and knowledgeable, very accommodation and flexible in regards to time and places visited. They also provided advice regarding trains, connections, etc. for our travel plans to other cities, as well as other sites to see in Lisbon. We all had a great time. Highly recommended!”

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Lisboa: Sintra, Pena Palace, Cabo da Roca Coast and Cascais

15.Lisboa: Sintra, Pena Palace, Cabo da Roca Coast and Cascais

★★★★★★★★★★4.9 · 442 reviews · from $40

Tour Sintra, Pena Palace, Guincho Beach, and Cascais from Lisbon in one guided day, with scenic coast views, local sweets, and flexible booking.

“Lovely sights, a very pleasant day. Our guide, Rui Godinho, was very nice and helpful. Very knowledgeable about the history of Sintra and Portugal in general.”

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