The 15 Best Cabo da Roca Tours from Lisbon

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

1.Sintra, Pena, Regaleira, Cabo da Roca & Cascais

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

A full day from Lisbon to Sintra palaces, Quinta da Regaleira and Pena, then the Atlantic at Cabo da Roca, Guincho and Cascais.

“had an amazing experience on this tour, and I highly recommend it to anyone visiting the area. Maria and Gonzales were exceptional guides, making the trip not only informative but also enjoyable. The organization of the trip was top-notch, with plenty of time at each stop to truly appreciate the beauty of the surroundings. The visits to Sintra Castle, Regalia, and other notable places were a highlight, and the history shared along the way was fascinating. Maria also recommended a lovely spot in Sintra for lunch, which turned out to be a bonus—delicious food that added to the overall experience. The guides were friendly, attentive, and truly cared about our…”

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Lisbon: Sintra, Pena, Regaleira, Cabo da Roca, and Cascais

2.Sintra, Pena, Regaleira, Cabo da Roca, and Cascais

★★★★★★★★★★4.7 · 10,147 reviews · 10 hours · from $21Best value

Skip Pena crowds on a 10-hour day trip from Lisbon, with guided Sintra, Regaleira, Cabo da Roca cliffs, and Cascais by the sea.

“We were paired with Hugo, a guide from Tugatrips. Hugo was a great guide to spend an 8 hour day with. He was friendly, informative and a good driver on the narrow, curvy Sintra roads. We were never rushed. After Pena Palace we went into the town of Sintra and had a lovely lunch and wine at a tapas restaurant (so many restaurants to select from). We had fantastic weather the whole day and our time at Cape Rock was not too windy. Lastly we went to Cascais and that is a town I wish to return to and stay in. So beautiful, miles of beaches. So stunning.”

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Lisbon: Sintra, Pena, Regaleira, Cabo Roca Coast & Cascais

3.Sintra, Pena, Regaleira, Cabo Roca Coast & Cascais

★★★★★★★★★★4.8 · 6,499 reviews · 8 - 9 hours · from $23

A fast-paced day from Lisbon with guided Sintra wonders, Pena and Regaleira, Cabo da Roca cliffs, and a relaxed Cascais stop.

“everyrhing was perfect , our guide guy Ivo was very friendly, knowledble”

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

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

★★★★★★★★★★4.8 · 5,445 reviews · 8 - 8.5 hours · from $58

A guided day trip from Lisbon to Sintra, Pena Palace, Cabo da Roca, and Cascais with optional hotel pickup and guided palace time.

“Our guide was very clam and relax people, his personality make the trip more with good rhythm, and more enjoyable ! Knowledgeable and patient and warm. (Sorry that I forget how to say his name—-it is in language of Portugal, hard for me to pronounce and remember. I only remember he share the same name with a great navigator in Portugal history.)”

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

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

★★★★★★★★★★5.0 · 3,559 reviews · 8 hours (approx.) · from $67.84Top rated

Small group day trip from Lisbon to Sintra, Pena Palace, Cabo da Roca and Cascais, with hotel pickup and a guided pace.

“Great way to visit these sites while spending time in Lisbon. Gustavo was a fantastic driver and guide!”

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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 $95.78

Guided day trip from Lisbon to Sintra, Pena, Regaleira, Cabo da Roca, Guincho, and Cascais. Small group and hotel pickup.

“We were dissapointed that parts of the itinerary was cancelled due to the weather.. However, the substitute places were well worth seeing. Our tour guide was fantastic who helped save the day”

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Lisboa: Sintra, Pena, Regaleira, Roca Coast, & Cascais Tour

7.Sintra, Pena, Regaleira, Roca Coast, & Cascais Tour

★★★★★★★★★★4.8 · 2,353 reviews · 8 hours - 510 minutes · from $22

Lisbon to Sintra’s palaces, Regaleira and Pena, then Cabo da Roca and Guincho views, ending in Cascais for lunch and sea-breeze strolling.

“This was an amazing tour for my family. Our tour guide Emilio was an awsome guide. He helped us out all along the way. My wife got sick during our tour and he had an eye out for her and helped us out with everything that we needed. I highly recommend this tour it is worth your money. The driver is also an amazing and a safe driver. He is friendly and helpful. Thank you for everything”

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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 $119.72

Small-group day trip from Lisbon covering Pena Palace, Quinta da Regaleira, Cabo da Roca cliffs, and Cascais coast.

“It was lovely. Roy is a super attentive guide who took good care of us. We enjoyed ourselves. Highly recommended.”

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From Lisbon: Sintra, Pena Palace, Regaleira, Cabo da Roca, and Cascais

9.Sintra, Pena Palace, Regaleira, Cabo da Roca, and Cascais

★★★★★★★★★★4.8 · 1,733 reviews · 9 hours · from $75

Van day trip from Lisbon to Cascais, Cabo da Roca cliffs, and Sintra palaces, with guided Pena Palace entry.

“Our guide Guilherme was absolutely AMAZING! He took excellent care of us the entire time, he was extremely knowledgeable, professional, and friendly, and he made the experience ten times better than it would have been on our own. I learned so much, he managed our time well without ever making us feel rushed or worried, and he really went to extra mile to make sure we had a great time. I would book any tour that he would be the guide for, he’s just that good. He made sure we didn’t miss anything, got the best photos, and got to try the most delicious and interesting things. He kept us…”

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

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

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

See Sintra palaces, Quinta da Regaleira, Cabo da Roca, and Cascais from Lisbon in 9 hours, guided with smart timing.

“We had alot of fun with our guide Mario. He is a very good storyteller in English and Spanish. Even though the tour is 9 hours, the day goes by pretty quickly and if you are in shape lol then walking up the hill to the palace is pretty easy. Or you can take the bus, there are options. There are alot of places to take gorgeous pictures so don’t forget to bring your phone/camera!”

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

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

★★★★★★★★★★5.0 · 898 reviews · 8 hours (approx.) · from $85.86

Guided Lisbon day trip to Sintra, Pena Palace, Cascais, Estoril, and Cabo da Roca for Atlantic cliffs and great views.

“Bruno guida fantastica, abbiamo visitato dei bei posti, le mie 3 stelle anziché 5 sono per il prezzo. 84 euro compresi i biglietti per il palazzo (considerando che 20 euro sono la differenza dall'esperienza senza biglietti) sono veramente troppi. Mi dispiace dirlo ma il prezzo non vale l'esperienza.”

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Sintra Cabo da Roca Cascais Estoril Private Tour

12.Sintra Cabo da Roca Cascais Estoril Private Tour

★★★★★★★★★★5.0 · 778 reviews · 8 hours (approx.) · from $260.47

Private 8-hour trip from Lisbon to Sintra, Cabo da Roca, Cascais, and Estoril, with a flexible guide, scenic stops, and smart pacing.

“Had a memorable day. David drove us up the coast and took us to great spots and vistas along the way. He also made navigating Sintra and the Pena Palace fun and easy. Very knowledgeable and a pleasure to spend the day with.”

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

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

★★★★★★★★★★5.0 · 770 reviews · 8 hours (approx.) · from $133.02

Private day trip from Lisbon to Sintra, Cabo da Roca and Cascais, with two palaces, pickup, and guided skip-the-line tickets.

“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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Lisbon: Pena Palace, Sintra, Roca & Cascais by Van

14.Pena Palace, Sintra, Roca & Cascais by Van

★★★★★★★★★★4.8 · 765 reviews · 9 hours · from $56

Lisbon day trip by van to Sintra, Pena Palace photo views, Cabo da Roca cliffs, and Cascais coast, with A/C and guided stories.

“The guide was very kind and easy to talk with. She shared us important history and facts. It was a nice tour.”

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

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

★★★★★★★★★★4.5 · 738 reviews · 8 hours (approx.) · from $53.21

Lisbon day trip to Pena Palace Gardens, Sintra historic center, Cabo da Roca cliffs, and Cascais by air-conditioned minibus with a guide.

“Caiscais, Cabo da Roca, and Sintra are just beautiful places. We are very thankful to have the opportunity to visit. However, our tour guide…That’s the thing with booking your tour through Viator- that’s no quality control. I had about 40% excellent experiences but 60% of the time, it wasn’t nice. Our tour guide is a nice lady but the tour company shouldn’t employ her. It’s not fair to her. She said she has been on the job for 15 days. At first, I thought she was just joking. Basically, she struggled to explain, and it was scary to see her struggle with words while driving. Luckily, I don’t think anyone…”

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