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 and Get Your Guide 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 |
| PRIVATE TOUR | Private Tour Sintra with Palaces of Pena & Regaleira |
| LISBON & SINTRA TOUR | Lisbon & Sintra: Full-Day Supersaver Private Tour |
OUR PICK: The BEST Sintra Tours 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
Another Great Option with Quinta da Regaleira
This Lisbon: Guided Day Tour of Sintra, Pena, Regaleira & Cascais is a phenomenal alternative. 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
Not Much Time? Check This Half-Day Sintra Tour from Lisbon
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 includes: Hotel pick-up and drop-off, a guide, insurance, and free time. ➥ BOOK IT HERE
Go on a Jeep Tour of Sintra
▶️ This Sintra-Cascais Natural Park by E-bike: 8-hour Tour from Lisbon offers a full-day journey that starts with train rides from Lisbon to Sintra. Once in the enchanting town, you’ll have time to explore it before hopping on an e-bike to explore the area.
Ride past the palaces of Monserrate, Regaleira, and Seteais, and make your way to the village of Azoia, where you can stop for lunch. The itinerary is customizable, allowing you to choose a trip to Cabo da Roca before heading to Guincho Beach and Cascais.
This tour includes: Ebike and helmet rental, a guide, train tickets from Lisbon, and snacks. ➥ BOOK IT HERE
▶️ 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
The 3 BEST 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 Exclusive Private Day Trip by Car with a Private Guide is a half-day excursion that takes you to the most incredible landmarks in the area.
As you’ll be led by a knowledgeable guide, you’ll learn fascinating insights about Sintra, its culture, and history. You’ll visit Quinta da Regaleira, and enjoy a guided tour around town before heading to Cabo da Roca.
Drive past the Sintra-Cascais Natural Park and Guincho Beach, and spend time sightseeing Cascais before returning to Sintra.
This tour includes: Hotel pick-up and drop-off, a guide, free time in Sintra, and full-insurance. ➥ 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
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
If You Only Have One Day in Lisbon…
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
Looking for other activities in Lisbon? Check out also:
The Top 15 Lisbon Boat Tours
7 Best Cooking Classes in Lisbon
10 Great Wine Tours in Lisbon
