Pena Palace tour from Lisbon with Sintra, Cabo da Roca and Cascais

What this Pena Palace tour from Lisbon covers

Nine hours, a maximum of 8 passengers, an air-conditioned vehicle, and the same local guide and driver from 8:00 AM until the drop-off back on Avenida da Liberdade. The loop goes Sintra centre, a bakery that has been in the same family since 1862, Colares, Cabo da Roca, Guincho, Cascais, then Pena. Commentary is in English only, so if your group needs another language this is not the one to pick.

At Pena you get access to the park and a guided tour of the courtyards, and the interior rooms if you chose that option. The Park and/or Palace of Pena entrance fee is covered when you select that option at booking, which matters because the palace interior runs on timed slots with a daily cap: the ticket admits you at the exact date and time printed on it, with no early entry and no grace period for latecomers.

Driving yourself is not a substitute. The Rampa da Pena, the final approach road, is permanently closed to private vehicles and is used by public transport; the historic centre of Sintra is restricted to residents, and drivers end up at the peripheral car parks. Under the traffic measures announced in July 2026, tour coaches use the Lourel car park and transfer passengers to buses 434 and 435, while taxis and ride-hailing cars may still reach a designated pick-up spot at Pena.

Pena is mostly outdoors, 85 hectares of Romantic park around the building, and the distance from the gate to the door catches people out: allow about 30 minutes from the main park entrance up to the start of the palace route, on foot or with the paid transfer that runs every 15 minutes. Photography and video are not allowed inside the palace, tripods are banned across the sites and drones are not permitted. With 135 minutes on the clock, pick one or two park sights such as the Valley of the Lakes or the High Cross rather than trying to reach the Chalet of the Countess of Edla in the western reaches.

The day step by step

1. Avenida da Liberdade
   Departure point at Avenida da Liberdade 9, a 1-minute walk from Restauradores metro on the blue line. The group leaves at 8:00 AM.
2. Historic centre of Sintra 75 min
   Sintra is largely pedestrian and has been UNESCO World Heritage since 1995. The time here is free time, used for the streets and for the local pastries.
3. A bakery in the same family since 1862 15 min
   Travesseiros: puff pastry rolled and folded seven times, filled with almond and egg yolk cream, dusted with sugar. The alternative is the Sintra queijada, documented from the 13th century, when it was used as a form of rent payment.
4. Colares
   A passage through Colares on the way to the Atlantic, known for wine cellars going back to the 13th century, with old villas, mansions, farms and a century-old tram.
5. Cabo da Roca 25 min
   The westernmost point of continental Europe, on a cliff 150 metres above the Atlantic. Open ground with no shelter, so bring a windproof layer even in summer.
6. Cabo da Roca lighthouse 5 min
   The 18th-century lighthouse is seen from the outside; there is no entry to the building.
7. Guincho Beach
   A stop at Guincho, 9 km from Cascais, with protected dunes and endemic flora, and surfers in the water most of the year.
8. Museu Condes de Castro Guimarães
   A summer palace built between 1897 and 1900 for the Irish nobleman Jorge O'Neill, and a clear example of the local summer architecture.
9. Citadel of Cascais
   Fortifications raised between the 15th and 17th centuries to defend Cascais and Lisbon, and a former royal palace area since the 19th century.
10. Historic centre of Cascais 90 min
    A former fishing village that became a resort for the royal family in the late 19th century, now a pedestrianised old town with a marina, gardens and small museums. This is the lunch or snack stop, and food is not included.
11. Park and National Palace of Pena 135 min
    Access to the Park of Pena and a guided tour of the courtyards, plus the interior rooms if you selected that option. Ferdinand II bought the ruined Monastery of Our Lady of Pena with his own funds in 1838 and turned it into a Romantic residence; the result was classified a National Monument in 1910.
12. Avenida da Liberdade
    Drop-off back at Avenida da Liberdade 9, the same point where the day started.

What is included

Meeting point, pickup and cancellation

• Meeting point: Meeting at 8:00 AM at Avenida da Liberdade, number 9, in front of the American Vintage store. Just a 1-minute walk from the Restauradores metro station (blue line).
• Cancellation: For a full refund, cancel at least 24 hours before the scheduled departure time.
• Ages: infant 0–1, child 2–10, adult 11+

How the Pena Palace tour from Lisbon options compare

This is the long version of the day at a low starting price, and it asks you to reach a central meeting point instead of waiting for a hotel pick-up. The 5-hour options give the afternoon or the morning back to you in Lisbon, while the Regaleira variants add a second timed monument to the same day.

Tour details from the operator's listing, checked 18 October 2026. Prices and times can change; the booking page has the current ones.

More ways to plan your visit

Getting to Pena from Lisbon

Getting to Pena from Lisbon

From the park entrance to the palace door

From the park entrance to the palace door

Cabo da Roca

Cabo da Roca