Cabo da Roca

Cabo da Roca: Our most recommended tours and activities

Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

1. Lisbon: Pena Palace, Sintra, Cabo da Roca, & Cascais Daytrip

Escape Lisbon and go on a full-day, guided journey to some of Portugal’s most popular locations stopping at the iconic Pena Palace in Sintra, the awe-inspiring cliffs of Cabo da Roca, and the ritzy seaside town of Cascais. Choose between the shared tour or private tour options. Your journey from Lisbon starts at the famous city of Sintra, whose Romanticist architecture, historic estates and villas, and numerous royal palaces and castles have made it a UNESCO World Heritage site. Enjoy the freedom of choice on whether you want an included entry ticket and tour of the colorful Pena Palace, or whether you prefer to gain some extra free time instead. Arriving early at Sintra means greater chances of avoiding long lines if you choose to go with your guide on a comprehensive tour through its lavish interiors and lush gardens. Marvel at the palace’s fairy-tale-like appearance, beautiful facade and extravagant interior. Next, head over to the center of Sintra and get 1.5-hour of free time to wander on your own. Get recommendations of the city’s must-see locations as well as the best restaurant options for delicious traditional Portuguese dining from your guide. Continue to Cabo da Roca, the westernmost point of continental Europe, and take in the impressive views of the ocean crashing against the high rocky cliffs. If weather permitting, stop at Guincho beach, whose strong winds and high swells have made it a popular surfing destination. Lastly, arrive in Cascais, an elegant seaside resort town on the Portuguese Riviera. Stroll through the lovely city center and make sure to check out Cascais’ luxury marina, its charming fishing port, and a restored fort that houses many local craftsmen. After your free exploration time in Cascais, relax back on board your air-conditioned vehicle, and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

From Lisbon: Sintra, Cabo da Roca and Cascais Full-Day Tour

2. From Lisbon: Sintra, Cabo da Roca and Cascais Full-Day Tour

On this full-day tour, you’ll discover Sintra, a UNESCO World Heritage Site. Admire the town which is surrounded by an amazing natural park, a medieval Castle, and beautiful Palaces and Chalets. Take a walk along the medieval streets of Sintra and drive through the national park noticing the rare fauna, the unique trees, the Moorish Castle, Monserrate Palace, and the several chalets along the road. Visit Pena Palace, one of the most impressive architectural expressions of 19th-century Romanticism in the world and one of Portugal’s seven wonders. Say goodbye to Sintra with an optional visit to mystical Quinta da Regaleira, a palace surrounded by luxuriant gardens, lakes, caves, and enigmatic constructions that hide obscure alchemist meanings, evoked by Freemasons, Knights Templars, and Rosicrucians. Continue on to the westernmost point of continental Europe at Roca Cape. Travel along the coast and embrace the Atlantic, stopping in Cascais, once a holiday retreat for the royal family and the European aristocracy. Enjoy all these amazing places from a comfortable seat in a small air-conditioned minivan. Pickup and drop-off at your hotel or apartment in Lisbon make for an even more pleasant experience.

From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

3. From Lisbon: Sintra, Regaleira, Cape Roca, and Cascais Tour

Discover Sintra, so-called the “Garden of Eden” by Lord Byron. Tour its paradisiacal streets and gardens and admire the ornate palaces, villas, and estates throughout this colorful city. See Pena National Palace, famed for its romantic architecture and recognized as a UNESCO world heritage site. Located approximately 500 meters above sea level, soak up the stunning city views over Sintra. Continue to Sintra's Quinta da Regaleira and take a guided tour of the palace, lush gardens, lakes, grottoes, and enigmatic constructions. Learn about its connection with the Freemasons and the Knights Templar. Head to Cabo da Roca, the most western point of mainland Europe, passing Guincho Beach. Experience the Portuguese Rivera as you drive along the Estoril Coast and visit the village of Cascais. See why many exiled European royalty choose to live there.

From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

4. From Lisbon: Sintra, Cascais and Cabo da Roca Coast Day Tour

Escape noisy Lisbon on a visit to nearby sites of natural and architectural beauty. See Sintra's historic center, Pena, Cascais, and more on this day excursion. On this full-day tour, start off with a walk-in Pena Park. Feel like royalty in Pena Palace while your guide explains its history. Marvel at the views of the surrounding landscape and the Atlantic Ocean. Next visit Sintra's historical center. Enjoy lunch or visit the National Palace. Continue on with a drive through the Sintra Mountains. Stop at the great cliffs at Roca Cape, which are the westernmost point of continental Europe. The last stop of the tour is the stylish town of Cascais, where you can take a relaxing walk along the bay before heading back to Lisbon.

Sintra: Historical Jeep Tour

5. Sintra: Historical Jeep Tour

Hop into a classic Portuguese jeep to explore Sintra’s wonders. See the best of Sintra with the help of your tour guide, as you learn the incredible histories and explore the must-see landmarks in this 7-hour tour. Drive around three of the five stunning palaces of Sintra, the National Palace, Seteais Palace, Monserrate, as well as Moorish Castle. View the stunning palaces from multiple vantage points. Take in the gorgeous panoramic views of Sintra. Stop to visit Quinta de Regaleira. Marvel at the breathtaking architecture. Look deep into the initiation wells, that were once used for ceremonial purposes. Visit Cabo da Roca, the westernmost point of continental Europe. Admire the gorgeous views atop the cape and hear the immensity of the ocean clashing into the land beneath you. If your group chooses to, enjoy lunch at a local restaurant. Continue on to a wine tasting, and relax with some of the finest wines Sintra has to offer. As the last stop on your tour, enter Pena Palace. Admire the colorful, unique palace, that looks like it has come straight out of a fairytale. Capture your final tour photos, before your guide returns you to your drop-off.

From Lisbon: Sintra, Pena Palace, and Cascais Full-Day Tour

6. From Lisbon: Sintra, Pena Palace, and Cascais Full-Day Tour

Leave Lisbon and discover some of the area's highlights with a visit to Sintra, a UNESCO World Heritage Site, and see Pena Palace and Sintra's Historic Center. Travel to Cape Roca to take in the stunning views of the coast and enjoy a local lunch in the fishing village of Cascais. Depart from Lisbon and travel to Sintra, and stop at the Palace of Pena to admire the beautiful architecture and feel the romanticism of the palace as you explore one of the 7 Wonders of Portugal. Move on to the historic center of Sintra, and explore a charming and picturesque town where you can walk and wander the streets and try typical pastries. Absorb amazing views from the Cape of Roca, the westernmost point of continental Europe, gaze out at the vastness of the Atlantic Ocean, and breathe in the fresh air. Travel to Cascais, a local fishing village, and see its historic buildings while wandering the streets. Take two hours of free time to walk around and visit the beautiful beaches. Choose one of the local restaurants and take some time to try the typical local food offered.

From Lisbon: Sintra, Cabo da Roca, and Cascais Full-Day Tour

7. From Lisbon: Sintra, Cabo da Roca, and Cascais Full-Day Tour

Embark on a full-day trip to Sintra, Cabo da Roca, and Cascais from Lisbon, choosing between a private or a shared guided tour. Soak up the dramatic views at Cabo da Roca, the westernmost point of Continental Europe, and lose yourself in the narrow streets of Sintra. After pickup from your hotel, make your way to Sintra and discover the medieval streets, castles, and palaces of this world heritage site. Learn about the colorful architecture and surrounding forest. Continue towards the Atlantic Ocean to discover Cabo da Roca, the westernmost point of Europe. Drive along the sea and admire Guincho Beach's enormous sand bed, which hosts many international surfing events due to its gigantic waves. Pass through Cascais and Estoril, both famous for their cosmopolitan environment, and finally visit Estoril’s world-renowned casino and beautiful gardens. Return to Lisbon by driving along the Estoril Coast, admiring the breathtaking sight of white-sanded beaches along the way.

From Lisbon: Sintra, Cascais, Cabo da Roca Private Car Tour

8. From Lisbon: Sintra, Cascais, Cabo da Roca Private Car Tour

Discover the breathtaking Sintra, Cabo da Roca, and Cascais on a private car tour with a local guide. Explore the old royal summer home of Pena Palace, the enchanting gardens of Quinda da Regaleira, and the charming seaside town of Cascais along your way Listen to stories that surround these beautiful locations nearby Lisbon, taking your time to walk through any or all sights. Sit back and relax as you’re driven along the stunning coastline from Sintra to Cabo de Roca and Cascais. Be amazed by the cliffside views and the vast Atlantic Ocean.

From Lisbon: Sintra and Cascais Small Group Full-Day Tour

9. From Lisbon: Sintra and Cascais Small Group Full-Day Tour

Depart Lisbon and journey by air-conditioned, 8-seat vehicle to Pena Palace atop a rock overlooking the Atlantic Ocean. Hear the romantic story of the palace and feel like a member of the Portuguese royal family. Then, head to Cabo da Roca for panoramic views from continental Europe’s westernmost point. Pass the stunning beaches of Cascais, including the scenic Praia do Guincho. Experience the mystery of the Devil's Mouth cave, created by the crashing of the waves on the rocky bluff. Stop in the elegant resort town of Cascais, favored by the nobles of Europe for its idyllic setting. Stroll along the harbor before traveling back to Lisbon.

From Lisbon: Half-Day Sintra & Cascais Private Tour

10. From Lisbon: Half-Day Sintra & Cascais Private Tour

Discover Sintra, known for its many 19th-century Romantic architectural monuments, which has resulted in its classification as a UNESCO World Heritage Site.  Surrounded by the mountains which gave its name to the town, a granite massif 10 km long emerges abruptly between a vast plain to the north and the northern margin of the Tagus River estuary.  Walk through the historical village center, enjoy its natural beauty and visit its most prominent landmarks: the Pena Palace, the Moorish Castle, the Regaleira, and Monserrate Palaces. Cross over the mountain to visit the westernmost point of the European mainland and look beyond the Atlantic.  Here, in the so-called "Portuguese Riviera," discover the city of Cascais and its old town center as well as Estoril, popularly recognized for the Casino Estoril, widely regarded as Europe's largest casino. Then go by seashore road to Lisbon center and see where the Atlantic meets the Tagus River. The tour is private and available in several car classes: standard, standard van, premium, luxury van, and luxury. 

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What people are saying about Cabo da Roca

Overall rating

4.8 / 5

based on 14,575 reviews

Had a fabulous day with Nuno. We booked a private tour for the four of us and thoroughly enjoyed it. We're able to tailor the tour to suit our timings and managed to fit in coffee and a wander around the marina in Cascais, visit to Cabo da Roca, lunch in Sintra and a visit inside the Sintra National palace (no crowds!) and finally a walk around Peña Palace Gardens. Big thank you to Nuno who was friendly and knowledgeable. Dropped back to our hotel at 17.10. Van was new and very clean and comfortable.

What a lovely trip! I am totally impressed by Miguel - the best tour guide in Lisbon!! Love him. He is very friendly, knowledgeable and provided the best tourist experience for this trip. It is totally exceeded my expectations!! Hope I can Miguel as my tour guide again in the future…..he deserves 10 stars ⭐️⭐️⭐️⭐️⭐️⭐️⭐️⭐️⭐️⭐️

Excellent tour, definitely recommending. Our guide, Ruth, was amazing, made the whole experience so much more enjoyable. Thank you

Ricardo was an amazing tour guide. The whole day went smoothly with a good amount of time in each location.

Sarvio es el mejor tour guide. Muy buena experiencia.