Day tripsCountriesPortugalLisbonLisbon to Sintra, Cascais and Cape Roca: Private guided tour

Lisbon to Sintra, Cascais and Cape Roca: Private guided tour

1 / 19

Private tour with a local expert

9h 45m
Round trip
Private group
Trusted by 1+ million happy travelers across 120 countries
4.9
Tripadvisor Travelers’ Choice 2024
Tripadvisor Travelers’ Choice 2024
4.9
5176
Reviews

About your trip

Spend the day exploring with an expert guide in some of the most historically rich places near Lisbon, starting with the fairytale town of Sintra’s romantic architecture and meandering streets. Then, head to Cascais to enjoy seaside life and take a guided hike along scenic cliffs. Finish the day at Cape Roca for unmatched views at mainland Europe’s Westernmost point.
Exclusively yours: A premium experience for your group only
Insider insight: Local tips and stories you won’t find online
Perfect balance: Expert guidance with freedom to explore
Ideal for all travelers: Families, friends, or solo adventurers
From €119
Private group ride
per person
Select date and travelers
Free cancellation up to 24 hours before your pickup time.
For a group of 1-3 travelersTotal€357

What to expect

Your day trip begins wherever you are

Meet your guide right where you prefer in Lisbon whenever suits you best. No time wasted getting to the pickup point, grab your bag and start your trip right away.

Discover more with local expertise

Your guide is both your expert behind the wheel and knowledgeable host throughout the day. They’ll manage the day’s itinerary, share stories and local knowledge, and make each moment along the route feel richer. At every stop, they’re by your side.

Guided experience with space to explore

Begin with a quick 15-minute visit to the elegant Queluz Palace and Gardens before immersing yourself in Sintra for three and a half hours of fairytale palaces and enchanting landscapes. Continue to the sophisticated coastal town of Cascais for three hours of seaside charm, then finish with 45 minutes at Cape Roca, mainland Europe's westernmost point with its dramatic Atlantic views. Your guide, who is also a professional driver, manages a seamless journey that allows you to savor each destination without worrying about navigation or timing.

Perfect for any private group

Whether you're traveling solo, as a family with kids, or as a large group, this service is tailored for your comfort and flexibility. It's the ideal option especially if you have limited time or a busy schedule.

Good to know

  • Two-way private car transfer in an air-conditioned vehicle
  • Personalized pickup and drop-off
  • Private professional English-speaking driver-guide
  • Complimentary bottled water
  • Free cancellation 24 hours before departure
  • Attraction admission details specified in the itinerary section below
  • Official guided tours inside attractions in Queluz Palace and Gardens, Sintra, Cascais, and Cape Roca can be purchased separately - inform us in advance for itinerary planning
From €119
Private group ride
per person
Select date and travelers
Free cancellation up to 24 hours before your pickup time.
For a group of 1-3 travelersTotal€357

Your trip at a glance

Your trip at a glance

Start in Lisbon
You choose the pickup spot.
1
Queluz Palace and Gardens (photo spot)
We’ll stop at this perfect photo spot – take a moment to capture the view!
Stop: 15 min - admission not included
Queluz Palace and Gardens
Queluz Palace and Gardens
Your guide can take pictures of your group at Queluz National Palace, a stunning 18th-century royal residence featuring Rococo architecture and formal gardens.
2
Sintra
Feel free to explore at your own pace and discover
Stop: 3 h 30 min - admission not included
Sintra
Sintra
Sintra
Sintra
Sintra
Sintra
Enjoy a guided tour of Sintra, a fairytale-esque town nestled in hills, featuring romantic architecture and palaces. Learn more about this enchanting town with a local guide, exploring the colorful Pena Palace, a UNESCO World Heritage Site boasting Romanticist architecture and a prominent hilltop location. Visitors can also explore Quinta da Regaleira, Moorish Castle, and the Palace of Sintra to learn more about the town’s history and culture. Your guide will accompany you to try the best local Queijadas de Sintra (sweet cheese tarts). Then, to cap off the stop, you can meander the surrounding Sintra-Cascais Natural Park, an idyllic setting to soak up the scenic views.
3
Cascais
Feel free to explore at your own pace and discover
Stop: 3 hours - admission not included
Cascais
Cascais
Cascais
Cascais
Cascais
Take a guided tour of Cascais, a vibrant coastal town, known for its beaches and scenic cliffs. Head west to enjoy a coastal escape in Cascais with a knowledgeable guide. Enjoy the relaxed vibe, incredible beaches, and coastal biking and walking paths. Or, head into the charming old town to explore cobblestone streets, artisan shops, and indulgent local seafood restaurants. Visitors to Cascais should see the town’s iconic marina as well as the Praia da Rainha (“Queen’s Beach”) and Boca do Inferno (“Hell’s Mouth”), an unforgettable sea cave featuring a towering stone archway. Cascais is the best place to enjoy a coastal sunset and a dinner of succulent, fresh-caught robalo grelhado.
4
Cape Roca
Feel free to explore at your own pace and discover
Stop: 45 min - admission not included
Cape Roca
Cape Roca
Cape Roca
Cape Roca
To finish the day, your guide will take you to mainland Europe’s westernmost point, Cape Roca, offering sweeping views over the Atlantic Ocean. The cape is most recognizable by its iconic stone lighthouse. Here, coastal walking trails connect the lookout points with nearby beaches, such as Praia da Ursa, a 30-minute hike down to a remote beach framed by rock towers. This popular photo spot, with its towering cliffs, is hard to beat in terms of sheer natural beauty. The guide can also take you to Almocageme village, on the inland road, for local seafood at Refúgio da Roca.
Back to Lisbon
We’ll take you back to your starting point.
Duration of the stops can be changed upon request after booking
Have questions or need help?Contact our Customer Support. We are available 24/7

Daytrip is loved all around the world. Here's why.

5.0
5176 reviewson Tripadvisor
or
4.9
991 reviewson Trustpilot
Great transfer option.

I used this service for a transfer from Split in Croatia to Perast Montenegro. My experience was exceptional. My driver Bojan was helpful, informative and ensured my journey was comfortable and enjoyable. I highly recommend the service.

Great transfer option.
Robyn COctober 2, 2025
It was a fantastic trip.

We were extremely satisfied with the quality of service we received from Day Trip. We had two Day Trip rides on August 31 from Athens to Lefkada and September 7 from Lefkada back to Athens. Both trips included stops at scenic sites in Greece. Both drivers were excellent and accommodating. However, we’d especially like to recognize Panos Peppas, who was our driver from Lefkada to Athens. Panos was incredibly nice & pleasant and delivered outstanding customer service, which included handling all of luggage, providing us with cold waters throughout the trip, providing us protein bars, providing us with printed materials on the Corinth Canal (one of scenic stops), looking up and providing us with terminal & gate info for our flight back home and providing us with a recipe for tzatziki.

It was a fantastic trip.
Daydream20046758137September 20, 2025
Best transport company anywhere

We absolutely love this company and have used it many times over the years to get from A to B without the hassle of hiring a car ourselves. Excellent drivers every time. Efficient and professional. It’s worth every penny and we can honestly recommend Day Trip to everyone. It’s 5 star rating is well deserved.

Best transport company anywhere
Mary LSeptember 15, 2025
Excellent experience in traveling

We traveled from Nuremberg to Munich in a beautiful Audi. Driver picked us at our hotel at the exact time requested. Got us to Munich in plenty of time for our next tour. Driver made sure we were comfortable

Excellent experience in traveling
Steve NAugust 20, 2025
Reasonably Priced and Safe Transportation

Gonzalo from daytrip was our driver and he was absolutely amazing. He went over and beyond trying to locate us as our service wasn't so good on our phones. He patiently awaited our arrival to the lobby so he could take us from Tulum Dreams Resort to our other hotel in cancun an hour and a half away near the airport prior to our departure flight home. He was polite, respectful and kind. Made sure we were comfortable during our long ride. Fast and to the point. I recommend this company as finding a one way ride from Tulum to Cancun isn't easy or cheap and this company provides a great service for a great price. I will definitely be using them again whenever I'm in the Cancun/Tulum area. Thank you DayTrip and Gonzola.

Reasonably Priced and Safe Transportation
COCOApril 22, 2025
Daytrip never disappoints

We were picked up by Marianna to drive us from Heraklion to Chania. The weather was terrible & due to this Marianna arrived a few minutes late. She contacted me to advise of this. Marianna lives in Chana and she made our trip very interesting by informing us of local things to do and see in Chania. Marianna is a safe driver and we all felt comfortable with the speed she drove at and how good her driving was in heavy rain. She is a lovely person with fluent English. We highly recommend Daytrips and if you are in Heraklion or Chania please make sure you ask for Marianna.

Daytrip never disappoints
Julie MApril 2, 2025
Great driver in Egypt

Used the service to go from Luxor to Hurghada, Egypt. Ahmed H was our driver and he was perfect. The car was new, clean, he had water and snacks for us, and accommodated our stops. Great service from him and would recommend it.

Great driver in Egypt
Maps315861February 28, 2025
Comfortable and Safe Rides in Mexico

Used Daytrip for two rides in Mexico, which were both great. So comfortable, and we arrived at each of our destinations at a great time. Both were incredible drivers, and we felt so safe. One of our drivers, Miguel, also played the best music! Will definitely use Daytrip on our next trip to Mexico.

Comfortable and Safe Rides in Mexico
GolourdesduarteFebruary 20, 2025
Great way to travel and see some sights on the way

We did not know what to expect with this trip and booked from Australia. We were initially looking for an easy way to travel from Granada to Malaga. We decided not to waste the opportunity to see something additional on our way. Miguel certainly exceeded our expectations. His English was excellent (unfortunately we speak very little Spanish), and he was very friendly and helpful. We thoroughly enjoyed hearing about the regions as we passed through and also discussing some of the local ways. Miguel took us to Antequera as planned and ensured we were able to easily get our tickets to the attractions without any sense of rushing us. We were picked up and dropped off punctually and really enjoyed our trip. Hopefully we will return to Spain and we can use this service again sometime.

Great way to travel and see some sights on the way
Michelle RFebruary 10, 2025
Excellent service

We used the service twice while in Thailand. Extremely prompt and efficient customer service. Best rate being offered in Chiang Mai for the travels. Polite, punctual, professional and English speaking drivers. Clean, comfortable vehicles. Being a regular visitor to Thailand, this was hands down the best service. Most pleased with the company. I hope it sustains the excellence of service that was rendered to us.

Excellent service
OmarJanuary 25, 2025

Know more about your day trip

With 3.5 hours in Sintra, focus on either Pena Palace with its colorful fairytale architecture and mountain views, or the mysterious Quinta da Regaleira with its initiatic wells and underground tunnels. The National Palace in the town center with its distinctive conical chimneys offers a third option requiring less travel time. Most visitors choose Pena Palace for its iconic status, but discuss your interests with your private driver-guide who can advise on current conditions including wait times and transportation options between sites.
Cape Roca (Cabo da Roca) is continental Europe's westernmost point, where sheer 140-meter cliffs drop dramatically into the Atlantic Ocean. During your 45-minute visit, enjoy spectacular panoramic views across the rugged coastline, visit the lighthouse, and obtain a certificate confirming your visit to this geographic landmark. The site features a stone monument with a cross and a famous quote from poet Luís de Camoes describing the spot as "where the land ends and the sea begins."
During your 3-hour Cascais guided tour, you'll explore the charming historic center with its pedestrian shopping streets, the beautiful Praia da Ribeira beach, and the marina area. Don't miss the Santa Marta Lighthouse Museum, the Citadel Palace, and the Boca do Inferno ("Hell's Mouth") rock formation just outside town where Atlantic waves crash spectacularly through a natural arch. Cascais offers a perfect blend of historical sites coastal scenery and upscale shopping and dining options.
This comprehensive day tour allocates approximately 3.5 hours for Sintra's palace, 3 hours for Cascais with its coastal charm, and 45 minutes at Cape Roca for dramatic Atlantic viewpoints. Your driver and private guide will manage timing between these destinations, which form a natural geographic loop from Lisbon. This schedule allows sufficient time to experience the highlights of each location while enjoying the scenic coastal and mountain roads connecting them.
Sintra's attractions are spread across a mountainous area with limited parking. Your private driver and guide is a local expert who knows the best way to see all the sites. Start early to avoid midday crowds, particularly at Pena Palace. Consider having lunch in Sintra's historic town center between palace visits. Your guide can advise on the most efficient route based on current conditions and your specific interests.
Pack layers for changing conditions, as temperatures can vary significantly between coastal Cape Roca (often windy), mountaintop Sintra (cooler), and seaside Cascais. Comfortable walking shoes are essential, particularly for Sintra's palaces which involve uphill paths and many stairs. Bring sun protection, water, and a light jacket even in summer. A small backpack is useful for carrying essentials while keeping hands free for photography and exploring narrow palace passageways.
In Sintra, sample the famous travesseiros (almond and egg cream pastries) and queijadas (cheese and cinnamon tarts) at the historic Casa Piriquita bakery. Cascais offers excellent seafood restaurants serving fresh catch; try ameijoas a Bulhao Pato (clams in garlic and cilantro) or arroz de marisco (seafood rice). For quick local flavors, Portuguese custard tarts (pasteis de nata) are available at cafes in all locations. Your driver-guide can recommend authentic local establishments based on your preferences.

Frequently Asked Questions

If you have any questions, here are the answers.
Day trips offer travelers private round-trip transportation to popular sightseeing locations. One of our professional drivers will pick you up in a luxurious, climate-controlled car, take you to the site of interest, and wait for you while you explore before driving you back to your hotel.
Yes! You’re free to choose the pickup and drop-off times that work best for you. However, the time spent at the destination is fixed and cannot be changed.
Each sightseeing stop has a recommended duration that includes plenty of time to explore. However, it is possible to customize the time spent at each sightseeing stop at a later stage in the booking process to best fit your unique schedule.
Your Daytrip driver will wait for you nearby for the duration of your exploration, meaning you’ll never have to wait for your return trip transportation to arrive. Your comfort and convenience are our top priorities, and we aim to close out your day trip with a return on your schedule.
The price of a day trip does not include any entrance tickets, guided tours, or meals you may partake in at your destination. The price covers round-trip transportation in a luxury vehicle with a professional driver who can provide local insights en route.
Day trip bookings can be canceled up to 24 hours before your trip for a full refund, no strings attached. While the destination and stops are predetermined, it is possible to change your pick-up point, whether it is at your hotel or some other location within the city.
Day tripsCountriesPortugalLisbonLisbon to Sintra, Cascais and Cape Roca: Private guided tour