11 Best Sintra Tours From Lisbon (2025)

If you want to explore the magic of Sintra without the hassle of planning, a guided tour from Lisbon is the way to go.

You can experience Sintra while avoiding the long ticket lines and finding local spots from knowledgeable guides.

I visited for a half-day from Lisbon and was left breathless by Pena Palace and Moorish Castle. But with so many tour options, it can feel overwhelming to choose.

Let’s get right into the best Sintra tours from Lisbon and helpful tips to help you decide which is best for you.

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Table of Contents

My Top 5 Picks: Best Tours To Sintra From Lisbon

Best Private Tour: Sintra Private Day Trip

Best for Couples: Sintra, Pena Palace, Cabo da Roca, & Cascais Tour

Best for Groups: Guided Day Tour of Sintra, Pena, Regaleira & Cascais

Most Adventurous: Sintra with Pena Palace and Cabo da Roca by 4WD

Most Unique: Pena Palace, Moorish Castle, Qta. Regaleira & Sintra

1. Guided Day Tour of Sintra, Pena, Regaleira & Cascais

⭐️ 4.8/5 (7170+ Reviews) | ⏳ 9.5 hours | 👥 TOUR SIZE: 25+ people

The Guided Tour of Sintra, Pena, Regaleira & Cascais is the best Sintra guided tour from Lisbon and is highly recommended for any Lisbon itinerary.

This fast-paced tour begins with a quick guided tour of Sintra town, for an introduction to the area and its history.

Afterward, you’ll get a thorough guided tour of Quinta da Regaleira, one of the most beautiful castles in Portugal. And Pena Palace, another palace sitting atop a hill with incredible views. Pena Palace was too beautiful not to visit during my trip to Sintra!

With 1.5 hours of free time in Sintra town between tour stops, you’ll also have a good chance to break away from the group and explore on your own.

Finish up with a guided tour of Cascais, a fishing village near the beach. Where you’ll have some time to explore the beach and the village, grab a snack, and shop for souvenirs.

The large group size is a great chance to meet other travellers if you want to socialize or have a larger travel group.

“It’s a great tour. Not having to worry about the transportation and tickets was amazing. The guide, Savio, was very friendly, informative, and gave amazing insight in a fun and creative way. Definitely recommend!” – Edin (see more reviews)

➜ Book Guided Tour of Sintra, Pena, Regaleira & Cascais

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

⭐️ 4.9/5 (2177+ Reviews) | ⏳ 9 hours | 👥 TOUR SIZE: 8 people

If you want something a little smaller, this Sintra, Pena Palace, Cabo da Roca & Cascais is a great option. Capped at 8 people, it has a more personal feel.

This tour emphasizes Pena Palace but with more time to explore the beautiful Pena Palace Gardens and a guided tour of the Palace itself. I found some fun photo spots inside the Palace and its gardens.

During your free time in Sintra Town, you can stop for a tasty lunch and walk around the historic center.

Before finishing with an hour in Cascais, the van stops by Cabo da Roca (or Cape Roca), a beautiful viewpoint with a lighthouse overlooking the ocean.

While there’s no hotel pickup, the tour does have a designated meeting point in central Lisbon. So you’ll need to navigate there on your own first.

“Our tour through Pena Palace, Sintra, Cabo da Roca, and Cascais was incredible. My husband and I were looking for a way to see all these places during our trip in a concise and efficient way, and doing this tour was the perfect way of doing so.” – Kelsey (see more reviews)

➜ Book Sintra, Pena Palace, Cabo da Roca & Cascais Tour

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

⭐️ 4.7/5 (9224+ Reviews) | ⏳ 8 hours | 👥 TOUR SIZE: private or group

This Pena Palace, Sintra, Cabo da Roca, and Cascais Daytrip from Lisbon is a great option for variety and more independence. You can choose between a private tour or a group tour.

First stop is Pena Palace, followed by free time in Sintra town. You’ll have over an hour to check out your guide’s recommendations of the best restaurants and bakeries to stop by.

Once you’ve seen most of Sintra, you’ll visit Cabo da Roca for good views and Cascais for more exploring.

This tour is more independent than other options, even if you choose the shared group option. The guide doesn’t enter the palace and exhibits with you, so you get to walk around at your own pace.

The private tour is a more personal experience, albeit more expensive than a shared trip.

“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 (see more reviews)

➜ Book Pena Palace, Sintra, Cabo da Roca, and Cascais Daytrip

4. Sintra Tour with Pena Palace & Regaleira

⭐️ 5/5 (1005+ Reviews) | ⏳ 8 hours | 👥 TOUR SIZE: Small group

The Sintra Tour with Pena Palace & Regaleira is one of the best day tours from Lisbon. It starts off with admission to the National Palace of Pena and Quinta da Regaleira, two must-see sights in Sintra.

While admission is included to all listed attractions, the guide does not go through admission with you. They’ll share some background information before and after, but you’ll largely be on your own at your own pace.

After free time in Sintra for lunch, this tour finishes with a brief stop at Cabo da Roca, which is most known as the westernmost point of mainland Europe.

With fewer stops, it’s a more relaxed tour that skips visiting Cascais. So you’ll be back in Lisbon sooner while still seeing the best of Sintra.

“We toured Sintra and the area with a small group. Our guide Filipa was interesting and informative. She always made sure we were in the right place at the right time. For example even though we met early to head to Sintra, we were one of the 1st groups of the day to tour the palace, no lines, no waiting, it was well worth it. And it made the rest of the day even better. We would recommend it highly. thanks for a great day.” – Scott D (see more reviews)

➜ Book Sintra Tour with Pena Palace & Regaleira

5. Sintra Private Day Trip: A Dreamlike Experience

⭐️ 5/5 (584+ Reviews) | ⏳ 5-8 hours | 👥 TOUR SIZE: Private

If you want the best private tour to Sintra from Lisbon, this Sintra Private Day Trip is it. Not only is it completely customizable, but the guide can also help you decide where to stop at different attractions to avoid the larger crowds or better suit your preferences.

The tour includes all the top sights, Quinta da Regaleira, Pena Palace, and Cabo da Roca. You can also choose to visit Castelo dos Mouros or Moors Castle, an underrated gem in Sintra. I enjoyed exploring Moors Castle and the views of Pena from afar.

You can stop at Praia Grande (a rock-cliff beach), Azenhas do Mar (one of the best viewpoints), and Parque e Palacio de Monserrate (a stunning 19th-century summer palace).

If you want to make the most of your guided Sintra tour from Lisbon, the cost of a private tour offers more flexibility and activity options over traditional tours.

“In researching our day trip to Sintra, I was quickly overwhelmed with information – how to get there from Lisbon, what to see, in what order, etc. We are travelling in peak season so I knew it would be very busy and really hot. The last thing I wanted to do was waste time navigating and waiting in lines so we booked this tour and we were not disappointed”- Kim M (see more reviews)

➜ Book Sintra Private Day Trip

6. Sintra Half-Day Private Tour

⭐️ 5/5 (406+ Reviews) | ⏳ 6 hours | 👥 TOUR SIZE: Private

If you don’t have an entire day but still want to see all the main attractions on your day trip, this Sintra Half-Day Private Tour is the best option.

One of the only downsides with most tours to Sintra from Lisbon is how long of a day it is. Sintra isn’t far from Lisbon, but there’s much to see and do there that most day trips can last easily over eight hours.

This half-day tour only lasts 6 hours and is very customizable. It includes a guided tour of the popular Pena Palace, plus the choice of one of Sintra National Palace, Quinta da Regaleira, or Monserrate Palace for the second attraction.

You’ll briefly pass through Cascais and Roca Cape and enjoy some free time in Sintra town for lunch.

Perfect for those short on time and wanting a private, flexible tour.

“Phenomenal! Ana was a fantastic guide. She had a great itinerary planned for us so we got to see an optimal amount. We had great flexibility as well so it was tailored for us. While Sintra is quite crowded, the option of going early in the morning and having a private tour made it so much more enjoyable. She also gave us great recommendations for enjoying some local foods and gave us a lovely magnet souvenir at the end. Great history and area information made it a perfect trip!” – Jennifer E (see more reviews)

➜ Book Sintra Half-Day Private Tour

7. Sintra, Regaleira and Pena Palace Guided Tour

⭐️ 4.5/5 (784+ Reviews) | ⏳ 8 hours | 👥 TOUR SIZE: Small group

Spend more time at fewer sites on this Sintra, Regaleira, and Pena Palace Guided Tour.

Instead of visiting the fishing village Carcais, and other popular viewpoints, this small group tour only visits Pena Palace and Quinta Regaleira, with several hours set aside for Sintra town.

This is a nice change of pace because you get some extra time to walk the beautiful grounds of Pena Palace and Regaleira. Because there’s more time at a smaller set of sites, it doesn’t feel as rushed as other tours.

Overall, it’s the best slower-paced option, including all entry and a guided tour experience of each site. So, you’ll get tons of background information and mini-history lessons.

“A very well organised and with an excellent tour guide. Lot of walking and up hill in places but well worth it, easier than trying to organise everything yourself” – Carl B (see more reviews)

➜ Book Sintra, Regaleira, and Pena Palace Guided Tour

8. Pena Palace, Moorish Castle, Qta. Regaleira & Sintra

⭐️ 4.7/5 (40+ Reviews) | ⏳ 7 hours | 👥 TOUR SIZE: Private

This Pena, Palace, Moorish Castle, Qta. Regaleira & Sintra option is one of the best private tours to Sintra from Lisbon because it starts with an hour of exploring Moorish Castle. Unlike a lot of tours that start with Pena Palace.

I visited Moorish Castle on my day trip to Sintra, and it was one of my favourite spots.

Moorish Castle is an 8th-century medieval castle on a steep hill with great views of the area and fascinating history.

You’ll also enjoy a guided tour of Pena Palace and Quinta Regaleira and have free time to explore Sintra town.

Not all tours go to Moorish Castle, so I had to highlight this one because of my time there.

And some tours even include cliff jumping in Cascais for the more adventurous souls!

“He arrived on time, and he was patient as we waited for our kids… At the Regaleira, he had a special pass that allowed us to get tickets quickly without standing in line. He knew how much time we should spend at each of the highlights. He took nice family pictures. He knew the restaurants in Sintra lunch and was able to get us a table with expedited service. At Pena Palace, he was able to get us in a special VIP line to skip the regular line. I cannot imagine trying to navigate Sintra, the incredible attractions and step hills without him!! he was flexible and allowed us to go to Cascais at the end.” – John (see more reviews)

➜ Book Pena, Palace, Moorish Castle, Qta. Regaleira & Sintra

9. Sintra, Pena Palace, and Cabo da Roca Hike Trip

⭐️ 4.7/5 (202+ Reviews) | ⏳ 6 hours | 👥 TOUR SIZE: 12 people

This Sintra, Pena Palace, and Cabo da Roca Hike Trip is a great option for more active travellers.

You’ll have a quick guided hour at each Pena Palace and Sintra town before getting extra time to hike at Cabo da Roca. This is a tighter schedule than most tours but it’s to have more time in nature and less time with crowds.

Cabo da Roca is the westernmost part of continental Europe and is defined by picturesque cliffs, walking trails, beaches, and crystal-clear waters. Most tours only stop by for a few quick photos, but this one dedicates an hour for a 5km guided hike around the area and learning more about the local flora and fauna. Weather dependent.

It’s classified as a soft hike, so it’s not too challenging and doesn’t require an extreme level of physical fitness. It’s a nice change of pace and better for nature lovers.

“The trip was probably the highlight of our stay in Portugal. From a scenic van ride from Lisbon to Cabo da Roca where we experienced amazing views and a super interesting hike to a walk through the lovely town of Sintra. Thank to our guide Rui for the well-organised trip, the tremendous cultural and historical insights and being fun to chat with.” – GYG Traveler (see more reviews)

➜ Book Sintra, Pena Palace, and Cabo da Roca Hike Trip

10. Sintra, Quinta da Regaleira & Monserrate Palace Tour

⭐️ 5/5 (50+ Reviews) | ⏳ 8.5 hours | 👥 TOUR SIZE: 8 people

If you prefer to visit Monserrate Palace over Pena, this Sintra, Quinta da Regaleira & Monserrate Palace Tour is for you.

You’ll have two hours each at Quinta da Regaleira, Monserrate Palace, and Sintra district.

It does not include Pena Palace, the most popular attraction in Sintra.

That said, Monserrate Palace is a beautiful site on its own and is usually less crowded than Pena. Some argue it’s more beautiful than Quinta da Regaleira, but it’s surprisingly one of the lesser-known sites near Sintra.

Monserrate Palace is often described as a “masterpiece of Romanticism,” and its luxurious architecture and palace gardens reflect just that. The palace was a summer retreat for the Portuguese court and attracted well-established international travellers.

You’ll also stop at the famous Coba da Roca. You won’t have too much time here, but you’ll be able to get some good photos if the weather is nice.

“This tour was fantastic, I would absolutely recommend it to anyone! It was extremely organized and comfortable traveling from Lisbon to Sintra and not needing to worry about waiting in line for admission. The palaces were stunning with beautiful gardens and Sintra was so fun with lots of unique food and shops. Our guides were great too, they were energetic and fun to spend the day with, knowledgeable, and great English speakers. I can’t recommend this enough, it was a fantastic way to spend the day.” – Stephen (see more reviews)

➜ Book Sintra, Quinta da Regaleira & Monserrate Palace Tour

11. Sintra with Pena Palace and Cabo da Roca by 4WD

⭐️ 4.9/5 (31+ Reviews) | ⏳ 6.5 hours | 👥 TOUR SIZE: Small group

This Sintra with Pena Palace and Cabo da Roca by 4WD is the most adventurous option.

The tour begins with a 45-minute bus ride from Lisbon to Sintra. Where you’ll hop on a 4WD Jeep Tour to some of the best sights around Sintra.

You’ll enjoy a guided tour of Pena Palace and the Sanctuary of Peninha. Onward in a 4WD, while a driver takes you to Cabo da Roca for a 30-minute guided tour of the area and some incredible viewpoints.

This tour is fun because you’ll be sitting in the back of an open-air vehicle, enjoying the wind in your hair and, hopefully, the sun shining down.

If the weather isn’t the best, you’ll get around in a large 4WD SUV instead of an open-air vehicle. This is slightly less adventurous but still gets you to some off-road spots near Cabo da Roca.

You get about an hour for Pena Palace, 30 minutes for the Sanctuary of Peninha, and 20 minutes to explore Cabo da Roca. This tour lasts around 6.5 hours, which is a bit shorter than the average full-day trip from Lisbon.

“George was excellent—kind and patient and offered to our picture at every turn. Kids loved the 4×4 ride—it was thrilling! Grown ups loved the castle tour. Overall, very fun way to see all the Sintra sites on a day trip while we were staying in Lisbon.” – GYG Traveler (see more reviews)

➜ Book Sintra with Pena Palace and Cabo da Roca by 4WD

Tips for Visiting Sintra on a Tour

Wear good walking shoes for all the inclines and the cobblestones. Portugal will test your feet like it did mine. I had to buy new shoes on my trip
Some of the group tours are fast-paced. Opt for a private tour if you have mobility issues or injuries. Or plan to visit without a tour and visit fewer attractions
Bring snacks as some of the tours with lunches stop to eat later

Final Thoughts: Best Sintra Tours From Lisbon

You should take a break from riding Lisbon’s cablecars and spend a day in Sintra.

An advantage to joining a guided tour from Lisbon is that you don’t have to plan any logistics. All the best Sintra day tours from Lisbon take care of that hassle for you.

The Guided Tour of Sintra, Pena, Regaleira & Cascais is one of the best Sintra Tours from Lisbon because it visits the main Sintra sites. However, it can be a little crowded, so this Sintra Private Day Trip might be more appealing.

If you’re interested in the incredible castles of Portugal, you should also visit the Lisbon Castle of St. George for more views and history.