Sintra is one of the most popular day trips from Lisbon. This incredible town is home to the picturesque Pena Palace along with a few other Sintra palaces and castles, on top of wonderful hilly landscapes.
Sintra was the place chosen by the Portuguese monarchs to spend their summers, as its elevated position and constant Atlantic breeze make it much cooler than Lisbon.
That’s why the kings, as well as Moorish princes and other millionaires across history, built their summer residences there, resulting in the palaces and mansions you can visit today.
The town also offers other historic buildings and amazing natural scenery, as well as delicious Portuguese pastries! Check out the very best Sintra tours from Lisbon to enjoy an unforgettable experience.
Why should you trust me? When I first visited Lisbon in 2014, I was one of the first bloggers to shine a spotlight on this enchanting city. I’ve returned multiple times since, exploring the vibrant neighborhoods and fantastic locations in the area.
You’ll only find the best tours and activities to visit Sintra in this article, carefully curated to ensure they’re high-quality.
I generally use Viator, Get Your Guide, and Walks to book tours around the world. I especially recommend them for their fantastic cancellation policy. If your plans change, you can cancel most activities up to 24 hours in advance.
In a rush? These are the top tours:
| THE BEST TOUR | Pena Palace, Sintra, Cabo da Roca, & Cascais |
| HALF-DAY TOUR | Sintra, Quinta da Regaleira, Cabo da Roca & Cascais |
| MOST EXCLUSIVE TOUR | VIP Sintra Tour with Private Access to Pena Palace |
| PRIVATE TOUR | Private Tour Sintra: Palaces of Pena & Regaleira |
| LISBON & SINTRA TOUR | Lisbon & Sintra: Full-Day Supersaver Private Tour |
OUR PICK: The BEST Sintra Tour from Lisbon
This Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip is one of the most comprehensive excursions. You’ll depart from Lisbon in an air-conditioned vehicle, and get to explore the astounding Pena Palace with a professional guide.
Learn about its history and architecture, and spend some time wandering around the town of Sintra. You’ll then set off to the rocky cliffs of Cabo da Roca, mainland Europe’s westernmost point. Stop by the seaside resort town of Cascais on your way back to Lisbon.
The tour can be booked as a private experience, which includes hotel pick-up and drop-off, or be shared with other travelers.
Why is this the best tour? It’s a comprehensive tour of the town and palace of Sintra, and a professional guide will introduce you to all the details and curiosities of this destination. Besides, you’ll get to visit iconic nearby attractions, with photo stops and free time in each.
Read what the reviews say:
“Excellent tour! Our guide Savio was very funny and knowledgeable and gave us a fantastic day! Learned about history, art, cuisine. He gave us a lot of tips, some places I didn’t manage to check yet, but the list he gave us is worth saving! Highly recommend!”
Cheptanaru – Read more reviews
This tour includes: Roundtrip transfers, a guide, entrance fees, free time in Sintra and Cascais. ➥ BOOK IT HERE
Other Great Options To Consider
▶️ This Lisbon: Guided Day Tour of Sintra, Pena, Regaleira & Cascais is a phenomenal activity. Not only does it take you to Sintra, but also includes a visit to Quinta da Regaleira, another landmark of the region.
The tour starts with transfers to Sintra-Cascais Nature Park, where you’ll enjoy a guided tour around Quinta da Regaleira, strolling through the beautiful gardens. Learn about its history and significance before heading into Sintra town for free time.
Have lunch and wander around the charming streets before heading to Pena Palace, a romantic construction that looks out of a fairytale.
You’ll visit the seaside town of Cascais before returning to Lisbon.
This tour includes: Hotel pick-up from the city center, a guide, entry fees, walking tours, free time, and headsets. ➥ BOOK IT HERE
▶️ The Lisbon: Sintra, Quinta da Regaleira, Cabo da Roca & Cascais is a full-day excursion with stops in many iconic landmarks.
You’ll start with a tour around the Pena Palace, learning about this ancient castle that’s part of a UNESCO-listed site. Then, spend time in Quinta da Regaleira, which boasts impressive gardens, hidden symbols, and a rich history.
The next destination is Cabo da Roca, a mesmerizing natural location, followed by a trip to Guincho beach and Cascais, where you’ll have free time.
This tour is shorter, taking around 6 hours, so it’s ideal if you don’t have much time.
This tour includes: Hotel pick-up and drop-off, a guide, insurance, and free time. ➥ BOOK IT HERE
The Most Exclusive Tours to Sintra with Private Pena Palace Access
▶️ This VIP Sintra Tour from Lisbon with Private Access to Pena Palace is an exclusive half-day excursion for private groups of up to 19 people.
You’ll travel comfortably to Sintra, where you’ll benefit from VIP access to Pena Palace either before opening or after closing, so you can explore the magnificent landmark without the crowds. After the guided visit, you’ll make your way to Quinta da Regaleira, discovering its secrets and underground chambers.
You’ll finally get some free time to wander around Sintra’s enchanting old town before it’s time to go back.
This tour includes: Round-trip transportation, VIP access to the Pena Palace, entrance to Quinta da Regaleira, a guide, and headsets. ➥ BOOK IT HERE
▶️ The Sintra & Cascais Day Trip with Private Early Access Pena Palace takes you to a few of Portugal’s spectacular locations, all in one single trip from Lisbon. The tour starts with hassle-free transfers to Sintra, where you’ll have exclusive access to Pena Palace, entering before the crowds.
You’ll then have free time to wander along Sintra’s lovely alleys, and then travel to Cabo da Roca, mainland Europe’s westernmost point. It boasts the most jaw-dropping cliffside views!
Continue along the coast to Guincho Beach and Boca do Inferno, and finally make your way to Cascais, a glamorous seaside town where you’ll have time to wander at your leisure.
This tour includes: Round-trip transfers, a guide, access to Pena Palace, free time in Sintra, and visits to Cascais, Cabo da Roca, and Guincho Beach. ➥ BOOK IT HERE
Private Sintra Tours from Lisbon
▶️ If you’d rather enjoy the excursion with your own group, you can book a Private Tour Sintra from Lisbon Palaces of Pena & Regaleira.
You’ll be picked up from your hotel to enjoy a full day in Sintra, touring the castles as you learn about their history and significance. Spend time both in Pena Palace and Quinta da Regaleira, two beautiful and very historical places.
Visit handicraft shops in the old town, and marvel at the impressive views of Cabo da Roca, mainland Europe’s westernmost point. The tour lasts 6 hours.
This tour includes: Hotel pick up and drop-off, a guide, light refreshments, and guaranteed skip-the-line. ➥ BOOK IT HERE
▶️ The Sintra Private Trip from Lisbon Customizable Dreamlike Experience caters to groups of up to 15 passengers, and it starts with hassle-free pick-up at your hotel. You’ll be whisked away to Sintra, where you can visit its iconic palaces, including the Pena Palace and Quinta da Regaleira, and stroll in the charming cobbled streets of the historic center.
Then, travel along the dramatic coastline and stop at Cabo da Roca, mainland Europe’s westernmost point, and Azenhas do Mar to admire the cliffside views. The itinerary is fully customizable, so you can include or skip attractions depending on your interests.
This tour includes: Hotel pick-up and drop-off, a guide, and a customizable itinerary. ➥ BOOK IT HERE
▶️ This Sintra: Full-Day Tour from Lisbon with Wine Tasting enables you to explore the lovely historical center of Sintra. You’ll get to tour the astounding Pena Palace with your private guide’s commentary.
Then, climb the Moorish Castle to enjoy the views, and marvel at the strength of the sea in Cabo da Roca, a natural landmark. A wine-tasting session in Colares is also included, as well as a visit to Guincho beach and the town of Cascais.
This tour includes: Hotel pick up and drop-off, Pena Palace entry fee, a guide, wine tasting, and bottled water. ➥ BOOK IT HERE
Sintra Day Tour with Wine Tasting
The Lisbon: Sintra, Pena Palace & Wine Tasting Small-Group Tour combines two amazing activities into a single day trip: Sintra and its beauty, and wine! This intimate tour is capped at 8 guests, ensuring a personalized experience as you travel to the fairytale town and skip the lines to visit Pena Palace Gardens and its exterior.
You’ll then have time to wander Sintra’s charming city center before driving to Cabo da Roca and its dramatic cliffs. The next stop is at a local winery, where you’ll savor three regional wines with a sommelier, who will introduce you to the world of wine-making and teach you how to properly smell and sip the beloved drink.
Finally, get some free time to explore Cascais, a beautiful seaside town, and return to Lisbon at the end of the day.
This tour includes: Round-trip transfers, skip-the-line entrance to Pena Palace exterior and gardens, wine tasting, and time in Cascais, Sintra, and Cabo da Roca. ➥ BOOK IT HERE
Go on a Jeep Tour of Sintra
This Sintra Historical Jeep Tour takes you around Sintra’s historical highlights, including the Pena Palace, the National Palace, Monserrate, and the Moorish Castle.
You’ll also stop at Quinta da Regaleira for a visit (own expense) and head to Cabo da Roca in an open-top 4WD, while listening to your guide’s live commentary and insights.
Stop for lunch and enjoy a wine-tasting session before the trip is over. You can opt to start the excursion from the Tour Operator’s store in Sintra, in which case you’ll first need to get from Lisbon to Sintra, or choose for the pick-up option in Lisbon.
This tour includes: Transfers in a jeep, a guide, and Porto wine tasting. ➥ BOOK IT HERE
An Electric Bike Tour of Sintra
A different way to tour this charming town is with a Sintra to Cascais Full-Day Guided E-bike Tour from Lisbon. You’ll make the trip to Sintra by train and once there explore the highlights and impressive scenery on an electric bike: getting tired pedaling is not part of the deal!
You’ll visit Monserrate Park and a few palaces, as well as cycle around several villages including Colares, Penedo, and Azóia.
This tour includes: A professional guide, train tickets, an e-bike, and a helmet. ➥ BOOK IT HERE
Lisbon and Sintra Combo Tour in One Day
Not enough time for these tours? If you only have one day in the city, you can enjoy a very comprehensive excursion that includes both destinations.
The Lisbon & Sintra: Full-Day Supersaver Private Tour allows you to visit the most important attractions of both cities. It’s led by a professional guide, and includes great photo opportunities, stops for traditional pastries, and a tour around Pena Palace.
You’ll learn about the history of the places from your knowledgeable guide, and also pass by Cabo da Roca and Cascais for impressive views.
This tour includes: Pick-up and drop-off, a private guide, and insurance. ➥ BOOK IT HERE
