Guided tour

From Lisbon: Sintra and Pena Palace Tour

From Lisbon: Sintra and Pena Palace Tour

Activity provider: Amazing Discovery Tours
Likely to sell out
Likely to sell out

From US$ 58.06 per person

Discover the secrets of Sintra and enjoy a personalized, guided visit to the romantic Pena Palace. Admire the views from Cabo da Roca cliffs, Guincho beach and walk along the beautiful Cascais bay.

About this activity

Free cancellation
Cancel up to 24 hours in advance to receive a full refund
Covid-19 precautions
Special health and safety measures apply. Learn more
Reserve now & pay later
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Duration 5 hours
Check availability to see starting times.
Live tour guide
English, Portuguese
Pickup included
Hotel and apartment pickup service will be provided in the central Lisbon area. If you are staying in a difficult street to access by vehicle, you may be asked to walk to a location near your accommodation to facilitate pickup. To avoid delays, please be ready 5 minutes before the scheduled pickup time.
Private or small groups available


  • Visit the Pena Palace, one of the major expressions of 19th century Romanticism in the world
  • Enjoy free time for exploring the historical center of Sintra
  • Admire the views from Cabo da Roca
  • Discover the beauty of Guincho beach
  • Walk along Cascais bay
Full description

Benefit from pickup at your hotel in Lisbon, and then travel to the UNESCO World Heritage monument of Pena Palace, one of the finest expressions of 19th-century Romanticism in the world. Marvel at the extravagant decorations and royal collections of the opulent interiors, and get amazing views from the rooftop cafe and terraces. You then head down to Sintra to enjoy some free time to shop or explore the historical center. Try the local pastries and take souvenir photos of the best-preserved medieval royal residence in Portugal, the Sintra National Palace. Continue towards the historic estates of Seteais and Monserrate on the way to Cabo da Roca. Get panoramic views from the westernmost point of mainland Europe, and take souvenir photos of the surfers paradise of Guincho Beach. Stop at the village of Cascais and take some walk along the bay before the return journey to Lisbon.

  • Pick-up and drop-off at your hotel or apartment in central Lisbon
  • Transportation by air-conditioned minivan
  • Guide
  • Driver
  • Personalized guided tour inside the monument
  • Free time in the historical center of Sintra
  • Full insurance in accordance with Portuguese law
  • Pena Palace admission ticket (Adult €14; Youngster/Senior €12,50); the guide can help you with the tickets
  • Lunch
Not suitable for
  • Children under 6 years
  • People with mobility impairments
  • Wheelchair users
Covid-19 precautions
Safety measures in place
  • All areas that customers touch are frequently cleaned
  • You must keep social distance while in vehicles
Traveler requirements
  • You are required to bring and wear a mask

Select participants and date



Important information

What to bring

  • Comfortable shoes
  • Snacks
  • Water
  • Jacket

Know before you go

  • A moderate amount of walking is involved, so be sure to wear comfortable shoes
  • At Cabo da Roca it can get windy, so it's advised to bring a jacket
  • This is a small group tour by minivan. During your trip, the local tour operator's driver and guide will be at your disposal.
  • Check your email inbox (including your spam folder) one day before the date of your tour; you'll be notified by email if there are any changes to the estimated pickup time
  • If you are staying in Lisbon, Bairro Alto or Alfama districts, you may have to walk to a location near your accommodation to facilitate pickup
  • This tour do not include a stop for lunch. Feel free to bring some snacks with you.
Customer reviews

Overall rating

5 /5

based on 64 reviews

Review summary

  • Guide
  • Transportation
  • Value for money
  • Safety

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Our guide and driver, Agnes and Paolo, were superb. Agnes was very knowledgeable but also provided the type of commentary that really made the history come alive. She also solved a ticket problem which was my fault, because I had ordered tickets for the wrong palace. Paolo's driving skills were much appreciated. He maneuvered the van through tight spaces while driving in the safest manner. If you are coming to Lisbon, you definitely want to visit Pena Palace and the coast, and I can't imagine a better tour to take.

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May 28, 2022

Very well organized tour, the pick-up on time and excellent communication about all details. Thank you very much for your perfect tour, comprehension and detailed information about the visited places. It was really interesting, descriptive and good timing tour. Moreover, additional tips to enjoy Lisboa and the restaurants are very appreciated! Would recommend to everyone, i am sure that the guys will make your experience special and unforgettable.

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January 6, 2020

Very well organized tour and the perfect length. Agnes was so friendly and helpful in giving tips, taking photos - even with stuff outside of our itinerary. She kept us updated day of on when she would pick us up. We got home about 3pm- it was just the right amount. So happy I chose to do half day vs full day- I was already exhausted and saw so much. While there was no official lunch stop we got 30 min to explore ourselves and could pick up snacks/ delicious pastries. I really appreciated that. Would for sure recommend this tour to others and my own friends/ family

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December 4, 2019

Product ID: 141417