Sintra, Pena Palace, Cabo Da Roca, Cascais Day Trip From Lisbon

On Oct 12, 2026, Pedro picked us up at our door in Lisbon. From the moment we all got onboard his van, he told us about Portugal, the history of the region, answered questions. We made a group decision to change the order of the day so as to get ahead of the long lines to come. It worked out very well. Each town that we drove through, Pedro gave us interesting information and history. During our "free" time he made suggestions as to how to spend our time, but left it up to us. He was kind to everyone. His depth of knowledge was impressive as this group had a lot of questions about history, culture, politics, shopping. He was clearly the best tour guide of our two week trip.

Brilliant. Really enjoyed interacting with Pedro M who was full of fascinating info. Top bloke. Involved our children too. A1

Katherine give us a wonderful educational tour. She was very thoughtful tailoring the trip to our requests. I cannot imagine visiting Peña Palace without her. She had the parking and the knowledge and all the insider tips. She also suggested the place for lunch in Sintra. She is also delightful and a great driver. Thank you!

Our tour guide was Pedro Gaspar and he was punctual, friendly, very knowledgeable and a great resource making recommendations along the way for points of interest and food establishments that we may enjoy. I would highly recommend him!

Miguel picked us up in time, he informed detailed about the possibilities visiting the various sites in Sintra and cascais. He led us efficiently trough the programm with very detailed Information. Miguel is a very friendly, competent and communicative guide, he astonished with with very broad knowledge of the visited sites sites and history of the country. We enjoyed the whole trip with hin.

What a wonderful way to see a beautiful part of Portugal and learn some of its vast history. Pedro, our guide was professional, courteous, and made the day seamless and fun for me and my teenage son. His detailed knowledge of history kept my son engaged and interested as he is a history lover himself. Sintra is a beautiful and special place. A place where it’s impossible to take a bad picture yet pictures don’t do it justice! We visited Pena Palace and Quinta da Regaleira and had lunch in the town center. We also visited Cabo da Roca, the western most point of continental Europe. The view was incredible! We ended our day with a lovely stop at the seaside town of Cascais where we walked around a bit and had some delicious gelato. It was a perfect day. Thank you Pedro.

Our Sintra tour was one of the highlights of our trip to Portugal, and so much of that was because of our wonderful guide, Pedro Gaspar. From the moment he picked us up at our hotel, everything was seamless. He was extremely punctual, professional, kind, and genuinely went above and beyond to make sure our family had an amazing day. Pedro G. was incredibly knowledgeable and shared so much fascinating history and information throughout the day, but never in a way that felt overwhelming. He somehow knew exactly when to step in with an interesting story, a helpful tip, or a little piece of local knowledge. He also knew all the little tricks for navigating Sintra, helping us avoid unnecessary lines and crowds and making the timing of the day feel effortless. One thing that made our experience particularly special was that Pedro made the extra effort to conduct the entire tour in Spanish, even though it was his first time doing the tour in Spanish. And honestly, you would never have known it was his first time. His Spanish was excellent, he communicated everything beautifully, and he did an absolutely amazing job. He was also incredibly thoughtful throughout the day. He had water waiting for us in the car, gave us wonderful restaurant recommendations, and even surprised us by taking the initiative to gift us some delicious local pastries — including travesseiros, which were absolutely yummy and such a sweet touch. Those little gestures really showed how much he cared about making our day special. The timing of the tour was perfect. Pedro was incredibly patient and never rushed us. Whenever one of us wanted to spend extra time taking in a view, exploring an area, or taking photos, he simply waited patiently and let us enjoy it. He truly tailored the pace of the day to our family rather than making us feel like we were following a strict schedule. And of course, Sintra itself was magical. The palaces, gardens, winding roads, and incredible views were everything we hoped for. Having Pedro there to explain the history and point out details we would have otherwise missed made the experience so much richer. Thank you, Pedro, for such a wonderful and memorable day! Alex and Mayra Puerto Rico

Really enjoyed this tour. Going to Caiscais and Sintra made for an interesting tour. Our tour guide Sebastian did a great job.

Pedro G was such a wonderful guide! We never felt rushed or on a tight timeline. The day was relaxed and very informative. Restaurant recommendations were spot on!! Tosca Saloia in Sintra was SCRUMPTIOUS!!!

We had a wonderful day with our tour guide Sebastian. Making a stop at the Citadel , as well as Cabo de Roca, Sintra and Peña palace . Was a great day with lots of knowledge shared would thoroughly recommend this tour.

Pena Palace is a wonderful and magical place. Our guide was outstanding. He went way above what was expected. We really had a private tour. He was very personable and made sure we had a great time. Would highly recommend this tour.

Easy, calm, smooth tour company. Sorted out any issues that arose professionally. Highly recommend this tour company!

We really enjoyed our visit. Miguel was a wonderful tour guide and a very good driver. He was very knowledgeable and shared many interesting insights as we strolled through the beautiful Pena Palace and gardens. We hope we can convince him to come to the US someday so we can return the favor. Paul and Kristen

It was a great day with Katherin - our guide! She picked us up from our hôtel and was taking care of us all day very attentively and kind! We visited all the places- best parking places, no lines, great lunch suggestion . We enjoyed the day and thank you to I go Portugal and Katherin- highly recommended!

We were picked up by our guide Katarina. She was absolutely amazing, her knowledge of the history and detail of the palace was outstanding. The palace itself was a wonderful experience. The design and intricacies of the building were spectacular. Katarina provided personalised service ensuring we were comfortable at all times. She made all transactions and access to the building very simple. A highly recommended trip but only made very special by our wonderful guide Katarina.

An informative trip to Sintra and surrounding areas. Pedro, our guide, was a font of local knowledge and his mission was to make sure we had a good time. I had last been to Sintra on May of ‘67 and Pedro was excellent in filling in the gaps. As a personal plus he made sure Pink Floyd was playing as the sun came out and lit Sintra up in all its glory, so he also has impeccable timing. Six stars if I could.

Fantastic day and very informative. Our guide Sebastian was engaging and very helpful. He accompanied us to Pena palace and we learned a lot about its history. The van was comfortable and definitely a great value. Highly recommended

We had a wonderful excursion with Sonia Oliveira of IGO of Portugal. We highly recommend her company. They are very knowledgeable and go out of the way to make your experience a memorable one.

We two couples enjoyed a private tour with Pedro, our guide and driver. Stopped first in quaint Cascais, then windy Cabo do Rica. After lunch, at a lovely restaurant in Sintra where Pedro made us a reservation, we toured the Pena Palace. Pedro shared with us much history of the palace and the region. He was a knowledgeable and friendly guide, and the whole day was very pleasant. Highly recommend as a day trip out of Lisbon.

We had a great day with Soninha as our guide. She customized the day to fit our preferences. This included a visit to the beautiful palace of Queluz — much less busy than Quinta da Regaleira and far fewer stairs. The gardens were beautiful. We had a delicious lunch and beach visit in Cascais. Then it was off to Pena Palace in Sintra. Soninha was knowledgable and a great story teller. She has a friendly relationship with the staff at every tour location and as a result we received a warm welcome and good service. She repeatedly went out of her way to make our day special. (Also the van was new, very clean, good AC, and she provided bottled water — it was a very safe, comfortable tour.) We plan to tour with her again.

Best choice we made!! Thanks I Go Portugal, we had an amazing time! Can’t wait to book again in November. Thanks Pedro & Sonia 😍

We did the private Sintra tour with Sonia and her trainee Katrerine. Sonia was an excellent guide giving us lots of information and getting us to Peña palace without having to stand in the lines. She chose a lovely spot for us to have lunch that matched our food preferences. The tour was to include the Quinta Regaleira site and Cascais. As we had already been to Cascais and did not want to go to Quinta Regaleira Sonia tailored the day to our other interests. We spent time at Cabo da Roca and Boca do Inferno as well as Praia do Guincho which we had not heard of before. All beautiful spots. Katrerine did most of the driving and we felt very safe with her. She also added her care and attention to our needs as well. I would highly recommend booking a private tour to visit Peña Palace as a small group is easier to navigate through the crowds. It was great to have the day tailored to our interests and very nice to be driven around to spots not accessible by public transportation. We began the day as strangers and ended the day as friends.

Excellent experience with our knowledgeable guide and driver Carlos, who was top-notch from the beginning to the end of our tour through Estoril, Cascáis, and Sintra. His English was impeccable and he was a lot of fun to be with for this unique experience.

Amazing trip Pedro and Pedro we great tour guides! Definitely recommended!!

Pedro brought Portuguese history to life with his great knowledge and amazing stories. Couldn’t have asked for a better day or guide!!

Pedro M and Phillip were phenomenal tour guides. They were incredibly knowledgeable at each location and made sure everyone was well taken care of. Pedro booked a wonderful lunch by the seaside, which had exceptional seafood. If you’re coming to Lisbon, highly recommend booking this tour with Pedro M!

Carlos is one of the finest tour guides. He took us around Peña Palalace and Montserrat Palace in Sintra. His knowledge is second to none and his explanations were full of information and anecdotes. He took us to the westernmost point of continental US and an authentic local restaurant for lunch where food was served with great love and warmth. He took us around downtown Sintra as well as Cascais before dropping us back at our hotel in Lisbon. I will highly recommend Carlos as well as the tour company that he represents.

We toured for the day with Pedro M to the Sintra area and we thrilled with the pace of the tour and the information. It was a private tour so first thing was to plan the day with those sights that interested us the most. We toured the Sintra area in the morning including Cabo da Roca. We had a very nice lunch at a local restaurant in Sintra. We toured both Palácio da Pena and Quinta da Regaleira in the afternoon. Pedro M was extremely informative about the palaces and the other sights. More good information than we anticipated. He guided us to bypass the lines which we would have done without him. Overall a wonderful day and we highly recommend to others.

We had a fabulous day with Pedro M! He was so knowledgeable and helpful. Seeing and hearing about all the sights in Sintra and the surrounding areas was very informative and historically interesting. He was able to time all our visits perfectly including a trip to the port store in Sintra! Thank you Pedro!

100% recommended. We traveled with Sónia who is most knowledgeable, charming and helpful. She found out with us what fits best for us and planned the route accordingly. The day was fabulous and definitely was the top highlight of our stay in Portugal.

Carlos was a great guide. Highly recommend this full day tour!

Goncalo was the best tour guide! He was fun and informative, polite and went out of his way to make us happy! It was a great trip, van was excellent clean and comfortable. The sights were amazing. Palace Pena, Cascais, Sintra! Perfect. Highly recommend!

We had a great trip today on the sintra tour. Our guide Pedro was so knowledgeable about the history everything on the tour from the palaces to the town history and how Portugal has evolved over the last 1000 years. Highly recommend I go and this tour.

The tour to The Pena Palace, Sintra, Cabo de Roca & Cascais was amazing. It was a full day with our wonderful guide Jorge. He is very knowledgeable about the history, has the ability to explain abundant information in a very clear way and transmits the passion for his country. The sites are worth visiting, as a matter of fact I would say a must see if you are in Lisbon. The Pena Palace is impressive and the landscape of mountains and greens, beautiful. Sintra is absolutely charming! The Cabo de Roca is grand and a sight to be seen. The coastal drive through Cascais as well as the historic center are stunning. We also had an amazing lunch of fresh fish Portuguese style in a restaurant with an amazing view.We can’t thank Jorge enough for making this an unforgettable experience.

From the time she picks you up, Sonia makes your day brighter. She has a wealth of knowledge about the Portuguese culture, literature and history that she is eager to share, and she applies it to every sightseeing stop on the trip and provides hard-to- find facts about Cascade and Sintra. Our lunch was a deep dive into Portuguese seafood (pun intended) and we had a marvelous introduction to green wine at a restaurant run by people who love what they do and certainly seem to love sharing their passion. This tour was beyond expectations, and created memories that we will hold, share and recall for the rest of our lives. Constance

Our experience with Sonia and Gonzolo touring Sintra/Pena and beyond was the highlight of our trip to Portugal. Both were super knowledgeable, courteous and accommodating to our large party of 14 people of different ages. They treated us like family and will never forget our experience. Thank you Sonia and Gonzolo!! Highly recommend!

This was a wonderful tour led by Rodrigo. He was a very good driver and very kind and very knowledgeable. The drive there was an adventure! He was great!! We enjoyed learning about the history of Peña Palace. We also enjoyed the beautiful (but, cool and very windy!) cliffs and views of Cabo da Roca. Our final stop was Cascais, which was absolutely delightful and beautiful….and much warmer than Cabo da Roca! This was a very good tour to take!

PedroM led an engaging, well-organized tour of Cascais, Cabo da Roca, and Sintra, blending stunning sights with local charm in a seamless, enjoyable experience. His passion for Portuguese history, art, and culture brought the tour to life with captivating stories and insights tailored to each location. Warm, patient, and incredibly kind, Pedro’s enthusiasm made everyone feel welcome and eager to explore more. Highly recommend Pedro M. for an unforgettable, authentic tour!

A great time , our guide was awesome, extremely knowledgeable. You will not regret this experience..

We took the full-day tour from Lisbon to Sintra with Anna and it was amazing! We went to Pena Palace, Regalaira, Cabo da Roca and Cascais. Anna was very knowledgeable and shared fascinating descriptions of each stop. We are history buffs and Anna was a wealth of knowledge about the sites we visited and the history of Portugal. She has a great sense of humor and kept us entertained all day. Anna also found a beautiful ocean-front restaurant for us to have lunch on the way to Cascais. It was a perfect day! We highly recommend taking this private tour with Anna.

Scenic, historic and informative. Our guide, Gonçalo, was charming, local and knowledgeable. The lunch suggestion was delicious.

We had an amazing tour of Pena Palace, our guide was very informative and gave us a lot of interesting information. We loved our lunch reservation near Cascais, and the beach was amazing. Loved the entire day.

This was an absolutely amazing experience. Jorge was an amazing guide and I would 11/10 recommend. We got to experience some of the most amazing views I have ever seen and learned so much about the past and present of Lisbon and Portuguese history. His knowledge was amazing. This recommended restaurant was some of the best food. This adventure was definitely one of the highlights of our trip.

We had an amazing day! Our guide not only worked magic to get us in to Pena palace very late (completely our fault), but knew an incredible amount of history which we couldn't get enough of! We never felt rushed and got to see everything we wanted. We had engaging conversation on our ride and really just enjoyed getting to know our guide- she even took super cool and interesting photos of us throughout! 10/10 and would definitely book again!

We spent a fabulous day touring with Ana. She was very friendly and engaging. Ana has extensive knowledge of the different locations that we visited and we enjoyed learning about the history and culture of Portugal. We would highly recommend this tour especially with Ana!

Everything about the day was perfect. Our guide, Sonia tailored the trip to concentrate on what we were most interested in; we really appreciated the flexibility. Sonia gave us such wonderful historical background to the cities, the castles and the sights along the coast. She recommended a wonderful restaurant that was fabulous and introduced us to the special pastries made famous in Sintra since the mid 1800s-yummy 😊 The tour was the highlight of our visit to the Lisbon area and we would strongly recommend I go Portugal!!

The tour to Sintra exceeded our expectations! Sonia was engaging and full of knowledge about the area and history which made the trip even more interesting. She went out of her way to make sure we focused the day on our sightseeing preferences and took care of the smallest details ensuring the entire day was flawless. It was the highlight of our trip to the Lisbon area. We definitely recommend I Go Portugal.

Fantastic. Our tour was supposed to leave at 8:00 AM but because I had a stomach issue the tour operator was kind enough to change to 10:00 AM The experience was behind fantastic thanks to the compassionate driver that kept the fact that I was not feeling well . This was one of the highlights of our trip to Portugal and the driver sure made it so. I highly recommend Strongly recommend Miquel

As all the guidebooks tell you… go to Sintra !!! They are correct. We did a private tour to Cascais, Cabo da Roca, Moorish castle, lunch in the town of Sintra and the Pena Palace. Lots of driving but I think well worth it.