The 15 Best Cabo da Roca Tours

Lisbon: Sintra, Pena, Regaleira, Cabo da Roca & Cascais - Meet up in Lisbon, then straight to Sintra’s storybook chaos

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

Lisbon day trip to Sintra, Pena, Regaleira, Cabo da Roca and Cascais, with palace gardens, coastal views, and guided history.

“Francisco, Luís, and Driver Jueles did a fantastic job of providing safe passage to our destination and back to Lisbon as well as giving excellent historical information on the sites that we visited. I recommend tourists to go on this tour for it is well worth the money!!”

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

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

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

A guided daytrip from Lisbon to Sintra with Pena Palace, Cabo da Roca cliffs, and elegant Cascais, with scenic coastal stops.

“Enjoyed Seeing everything but the bus was too small. We sat in the very back and I was quite squeezed in. Not enough room for 4 in the back. Nice tour - good guide”

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

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

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

Sintra and Pena Palace, Cabo da Roca cliffs, and Cascais with Lisbon pickup. A full day mix of UNESCO romance and Atlantic drama.

“We had a wonderful day with Diego. He was a perfect fit for our family. A perfect of history and fun!”

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Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais

4.Small Group Tour to Sintra, Pena Palace, Cabo Roca and Cascais

★★★★★★★★★★5.0 · 3,559 reviews · 8 hours (approx.) · from $67Top rated

Small-group day trip from Lisbon to Sintra, Pena Palace, Cabo da Roca, and Cascais, with hotel pickup and photo stops.

“A great experience seeing several significant sites which were explained with great insight from our guide. The small tour experience made it even more enjoyable.”

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

5.Sintra, Pena Palace, Cabo da Roca, & Cascais Tour

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

Small-group day trip from Lisbon to Sintra, Pena Palace, Cabo da Roca and Cascais with a live English guide and flexible ticket options.

“The day trip was very good and the guide was very informative.”

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

6.Sintra, Pena, Cabo da Roca Coast & Cascais Day Tour

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

See Sintra’s palaces, Cabo da Roca cliffs, and Cascais in one efficient day, with guided stops and early timing to beat crowds.

“We started with Caterina and everything went great. Caterina explained everything to us and she is such a warm and welcoming person. The tour was good except the part to Sintra palace since the entrance was crowded we had to wait in a long line and we were rushed at the end to get back to our guide at 12:30. Although I have to mention Caterina changed the meeting point time from 12:15 to 12:30 so very helpful of her. The palace’s organizers were at fault but this is something that tour organizers can foresee.Read more”

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

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

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

Guided day trip from Lisbon to Sintra, Pena, Regaleira, Cabo da Roca and Cascais, with hotel pickup and small groups.

“I had an outstanding experience with our guide David. He was exceptional—patient, attentive, and incredibly thorough at every stop. His deep knowledge of each location added so much richness to the journey. You can tell he genuinely cares about creating a meaningful experience for everyone. We highly recommend this tour and we will come back again.”

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

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

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

Small-group day trip from Lisbon to Sintra, Pena, Regaleira, Cabo da Roca, and Cascais with guided gardens and free town time.

“Very pleasant guided tour to Pena palace Regaleira Cabo do roca and Cascais. Knowledgeable enthusiastic guides. Very much enjoyed”

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

9.Sintra, Pena, Regaleira, Cabo da Roca & Cascais Tour

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

9 hour Lisbon day trip to Pena, Regaleira, Sintra, Cabo da Roca, and Cascais, with guide commentary and optional entry tickets.

“Javier and Nelson were the best guides. The trip is 100% worth it. One of the most beautiful trips we have ever had. Would totally recommend.”

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Lisbon: Sintra, Pena Palace, Cape Roca & Cascais – Guided Tour

10.Sintra, Pena Palace, Cape Roca & Cascais – Guided Tour

★★★★★★★★★★5.0 · 898 reviews · 8 hours (approx.) · from $85

Guided Lisbon day trip to Sintra and the Atlantic coast. Pena Palace, Cascais, Estoril, and Cabo da Roca in 8 hours.

“Le guide fut excellent. Comme nous étions un petit groupe, le guide nous a suivi tout au long du parcours. Ils respectait le rythme du groupe. Les endroits choisis étaient excellents. Le repas au restaurant sur le bord de la mer était excellent et les hôtes était d'une extrème gentillesse. Ce fut très apprécié.”

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Sintra Cabo da Roca Cascais Estoril Private Tour

11.Sintra Cabo da Roca Cascais Estoril Private Tour

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

Private Lisbon coast to Sintra day: Estoril, Cascais, Cabo da Roca, Regaleira and Pena with hotel pickup and flexible stops.

“Jorje was an amazing guide! He kept us laughing and singing as he taught us about the coastal towns. Many attractions in Sintra were closed due to extreme heat and fire hazards. We were happy anyway-we wouldn’t change a thing!”

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

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

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

Private 8-hour tour from Lisbon to Sintra, Cabo da Roca, and Cascais, with 2 palaces, hotel pickup, and skip-the-line help.

“Our family had a great time on this tour. Luis is very knowledgeable and truly loves what he does. He went above and beyond to make sure we visited the sites we were interested in, and had the best experience possible.”

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

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

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

A guided day from Lisbon to Pena Gardens, Sintra center, Cabo da Roca cliffs, and Cascais on the Atlantic coast.

“Joao was excellent! Great info amazing attitude. He kept everyone engaged and provided a lot of meaningful facts and data points. He captured the attention of of all the participants. We wish Joao the best in the Rugby Worldcup.”

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Lisbon: Sintra, Regaleira, Pena, Cabo Roca All Tickets Included

14.Sintra, Regaleira, Pena, Cabo Roca All Tickets Included

★★★★★★★★★★4.5 · 683 reviews · 9 hours 30 minutes (approx.) · from $119

A full-day Lisbon tour that strings together Quinta da Regaleira, Sintra free time, Pena Palace, and Cabo da Roca, with tickets and guides included.

“They were very informative and made sure we all had the breaks we needed climbing those amazing hills. Places are amazing!”

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

15.Pena Palace, Sintra, Cabo da Roca & Cascais Day Tour

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

One day from Lisbon to Sintra and Pena Palace, then Cabo da Roca and Cascais, with guided stops, photo breaks, and pickup.

“Brilliant brilliant brilliant. What an awesome day tour! We had Alex as a guide and he was very knowledgeable giving us information about Lisbon and the places we visited. He gave us tips on what to see at each spot for us to get most out of our time there. He was tons of fun too. He was also helpful at the end of the tour in providing us with tips on things to do in Lisbon and places to eat.”

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