Estoril
Walking Tours

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Our most recommended Estoril Walking Tours

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. 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 minivan, and admire more breathtaking views of the Portuguese coast as you make your way back to Lisbon.

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Sintra and Quinta da Regaleira 5-Hour Tour from Lisbon

2. Sintra and Quinta da Regaleira 5-Hour Tour from Lisbon

The driver will collect you from your address and drive to Quinta da Regaleira, the UNESCO World Heritage Site and one of the Sintra's principal tourist attractions. During the guided tour inside the monument discover the romantic palace, chapel and luxurious park featuring lakes, grottoes, wells, benches, fountains and a vast array of exquisite constructions. Next, take a short walk to historical center of Sintra passing by Lawrence's hotel, the oldest hotel in the Iberian Peninsula. Have free time for shopping, try teh local pastry, take pictures of the thousand-year-old National Palace or just enjoy a walk in the narrow Sintra streets. After, drive through the mountains and stop at Cabo da Roca, the westernmost point in continental Europe. The cliffs are 140 meters high and offer spectacular views of the wild coastline. Continue on with a drive by the coast that takes you to Guincho beach, and then to the elegant Village of Cascais. Take some free time and walk along the bay before returning to Lisbon or another drop off location.  

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Sintra - Cascais Estoril - Full Day Tour

3. Sintra - Cascais Estoril - Full Day Tour

The enchanting town of Sintra makes the westernmost point of continental Europe much more than a place of geographical interest. This full-day private tour will give you a perspective you can only get by standing on the edge of the world. Though it is only 30 kilometers from Lisbon, this place "where the land ends" has a fresh climate and luxuriant vegetation that combine with unique architecture and a legendary charm to make it deeply romantic and mysterious. The ancient Moorish Castle of Pena Palace, built atop a cliff and the National Palace in the town center contributed to Sintra being named a World Heritage Site in 1995. But long before that it inspired famous writers including Hans Christian Anderson and Lord Byron, who called it "the most beautiful [village] in the world." First, stop at Sintra village, a delightful Portuguese town that is situated within the hills of the Serra de Sintra. Concealed within these pine covered hills are extravagant palaces and opulent mansions. Pena Palace, once the summer residence of Portugal's royal family, is the next stop. It dominates the coast to Lisbon. After lunch, visit Cabo da Roca, the actual western tip of the continent, where turbulent waters crash loudly against rocks rising to 140 meters in height and offering a beautiful view of the wild coastline. Boca do Inferno (mouth of hell), a steep cleft where the waves hit harder and louder, is nearby. A visit to Cascais, a fishing village established in the 12th century and well preserved until today, is the last stop before returning to Lisbon.

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Lisbon: Full-Day Sintra Tour with Pena Palace

4. Lisbon: Full-Day Sintra Tour with Pena Palace

Revel in Sintra, a designated UNESCO World Heritage Cultural Landscape, with a breathtaking tour of Pena Palace followed by a stop in Sintra Village. Then visit Colares, renown for its wine making, all the while enjoying famous views of the Portuguese coast. Explore the majestic and romantic Pena Palace, an astonishing fairytale castle, located on one of the highest peaks of the lush Sintra Mountain Range. At the end of the morning, stroll the streets of Sintra Village, which enchanted Kings and inspired poets. Enjoy local handicraft shops and tea-rooms to taste delectable sweets like "queijadas" and “travesseiros.” Then you'll travel to Cabo da Roca, the westernmost point in continental Europe. Relish scenic coastal views of Guincho Beach, a windsurfer's paradise, and Boca do Inferno, a famous seaside chasm with crashing waves, until we reach Cascais, a former fishing village which is now one of the richest municipalities in Portugal.

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Lisbon: Tailored Tour

5. Lisbon: Tailored Tour

Book your personal guide for one day and determine your individual tour according to your wishes. You are completely free to decide which destinations you want to visit or you can let your guide advise you and tailor the best tour to suit your interests and preferences. Whether you want to take a closer look at Lisbon historically, culinarily, culturally or architecturally, there are no limits to your imagination. Visit the sunny towns of Estoril and Cascais on the beautiful Atlantic coast, also known as the Portuguese Riviera. Or experience the mystical, literary worlds of Sintras with its fairytale castles and romantic alleys. Get an introduction to the Portuguese language or taste culinary highlights such as port wine, the famous Pasteís de Belém or the special seafood cataplana. Lisbon also offers numerous museums covering topics such as naval and shipping, modern and historical art, carriages, militaria, oriental studies and city history. Explore the oceanarium with children or sail the Tagus and the Atlantic on a historic sailing ship, enjoy a speedboat tour or tuk-tuk ride or go diving or surfing - the possibilities are endless.

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From Lisbon: Van Tour to Sintra, Cascais and Estoril

6. From Lisbon: Van Tour to Sintra, Cascais and Estoril

Enjoy a day away from the hustle and bustle of Lisbon, discover the natural and architectural beauty of Sintra and Cascais. After pickup at your hotel or at the meeting point in Lisbon at around 9:00 AM, begin this full-day tour with a walk in Pena Park. See the park’s secret caves, and admire the elegant Pena Palace. Marvel at the views of the surrounding landscape and the Atlantic Ocean. Your guide will share the fascinating history associated with this romantic palace.  Next, visit the historical center of Sintra and taste the delicious pastries from this village. In addition, you will have free time for lunch and your guide will be happy to suggest some of the best restaurants in this area. Continue with a drive through a national park, passing the palaces of Quinta da Regaleira and Seteais. Enjoy a fabulous photo opportunity at the Roca Cape cliffs, the western most point of Europe 'where the earth ends and the sea begins'. The last stop on your tour is the stylish town of Cascais. Here you will take a relaxing wander along the bay, savor an ice cream or shop in the stylish stores. Return to Lisbon by the sea, along the coastal road of Estoril. This tour is totally private with only your family or group and is flexible to suit you.

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Lisbon: 3-Day Private Tour

7. Lisbon: 3-Day Private Tour

Day 1: On the first day of your private adventure, discover many of the historic sights that Lisbon - Portugal's capital city has to offer. First, see Saint George's Castle, one of the few vestiges of Arabic culture in the city. Admire the building which has witnessed multiple reconstructions since Roman times and is today one of the most visited monuments in the country. Then, head over to Alfama, the oldest quarter in Lisbon. Discover the small alleyways of the Medina which acted as the perfect defensive system during the 8th to 12th century. Continue into Lisbon's downtown Baixa neighborhood and learn about the terrible earthquake of 1755 which influenced Portuguese history and architecture forever.  Finally, explore the Belem or Bethlehem district to the west of central Lisbon. Marvel at how this area combines historic monuments, fascinating museums, and attractive gardens, all of which line the cooling waters of the Tejo Estuary. See the place where the shipyards and harbors used to be from where Portuguese explorers in the 15th-century set out to discover sea routes to India, Africa, and Brazil. Day 2: On the second day, visit the enchanting small village of Sintra which boasts a great concentration of historic palaces and interesting monuments. Your guide will give you information about all of the attractions you can visit and the choice is yours for what you would like to see. Then, head to Cabo de Roca - the most western point in Europe. Marvel at 165-meter-high Lighthouse which dates back to 1772. After this, continue to the beach town of Cascais, known for its picturesque streets and fishing village charm. Stop at one of the many restaurants serving fresh seafood. Return to Lisbon taking the coast road with stunning panoramas of the sea and Estoril. The town is known for its famous casino which boasts the largest gambling room in Europe and was made famous by Ian Fleming's Jame Bond novel 'Casino Royal'. Day 3: On the final day of your tour, set off to explore the Sanctuary of Fatima. Here, find various chapels including the Chapel of the Apparitions and have the option to attend a Mass. Visit the Monastery of Batalha another important landmark in the history of Portugal. Next, continue on to the scenic village of Nazare which has an intense past that is best portrayed in its architectural heritage. Admire the many picturesque churches and traditional houses. Lastly, explore the UNESCO World Heritage Site of Obidos. Step back in time, as you walk through the beautiful and narrow streets full of traditional shops, and white painted old houses. Return to Lisbon where your 3-day experience concludes.

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From Lisbon: 5-Day Private Portugal Tour

8. From Lisbon: 5-Day Private Portugal Tour

Day 1: Lisbon Spend a full day exploring Portugal's charming capital city. Take a guided walking tour and become acquainted with one of Europe's most fascinating cities. With your informative guide, see and learn about some of this city's most famous historical landmarks. Return to your hotel in Lisbon and stay overnight (not included).   Day 2: Sintra, Cascais, and Estoril On the second day, visit Sintra, the Portuguese Aristocracy paradise and discover the charm of its narrow alleys and the typical shops. Visit a local pastry shop where the famous sweets Queijadas de Sintra and Travesseiros de Sintra will be waiting for you. Then, customize your tour and choose from the many palaces to visit in the area, including Quinta da Regaleira and Moorish Castle Palaçio da Pena. Later, visit the geological formation of Cabo da Roca, also known as "The Snout of the Rock" or "Promontory of the Moon," and marvel at the unimaginable beauty of the area. Next, it's time to explore Cascais, an ancient fisherman village turned beautiful and cosmopolitan beach resort. Return to your hotel in Lisbon and stay overnight (not included). Day 3: Lisbon, Fatima, Coimbra, and Oporto On the third day, escape the bustle of Lisbon and head out to Fatima, where you'll visit three places of interest and attend a mass (optional). Then, make your way to Coimbra and start the tour of the city at the oldest University in Europe. See the highlights including the Joanine library, built in the XVIII century on the grounds of the former prison of the University and marvel at one of the most beautiful libraries in the world, Then, transfer to your hotel in Oporto and stay overnight (not included). Day 4: Oporto and Gaia Start your day tour of Oporto at the central Avenida dos Aliados, a famous spot for celebrations and events. Admire the imposing Oporto Municipal Council building. Walk around the city center and past the Lello Bookstore with its renowned staircase, known for its link to the Harry Potter series. Then visit Gaia, a hub of the port wine industry where the wine is being aged in hundreds of different cellars. Visit a local winery, where you will be shown the various aspects of winemaking and also taste some of the best wines in the world. At the end of your day, return to your hotel in Oporto and stay overnight (not included) Day 5: Douro Valley Check-out at your hotel in Oporto and take your luggage with you as you will be taken to the airport in Lisbon or Oporto at the end of the day (if desired). The day starts with a visit to Amarante in the Douro Valley, where you can see numerous examples of the Romanesque and medieval buildings. Then, stroll along the S. Gonçalo bridge and enjoy some of the most popular sites of the city, including the Church and Convent of São Gonçalo and the Amadeo de Souza-Cardoso Museum. Next, head over to the market where you see vendors selling the delicious S. Gonçalo sweets, always a source of curiosity and great laughter due to their phallic appearance.

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Lisbon and Sintra Combo: Tuk Tuk and Van Private Tour

9. Lisbon and Sintra Combo: Tuk Tuk and Van Private Tour

Explore Lisbon's historical center and discover the best viewpoints on this private two-hour electric tuk-tuk tour, crossing Alfama, Chiado, Bairro Alto, Graça and Mouraria districts. Each tuk-tuk can take up to six people and are the perfect solution for touring the narrow and hilly streets of Lisbon. With an amusing guide, you will learn everything you need to know about the city, its history, culture and best spots to hang around and have fun. On the next day, take a day trip in a luxurious van to the beautiful and fairy-tale Sintra, Cabo da Roca, Cascais and Estoril. Feel like you are a part of the Portuguese royalty when you visit the romantic Pena Palace, a UNESCO World Heritage Site, with stunning views over Sintra, the Moors Castle, and the natural park. Take photos of breathtaking views of Cabo da Roca's cliffs, the westernmost point of continental Europe. Dazzle yourself with the wonderful Guincho Beach, a paradise for surfers. Follow the Atlantic coast, passing by the rock formation Boca do Inferno until you reach Cascais. Admire the glamour of the charming and trendy city of Cascais and take a stroll at the bay or along the city’s elegant cafes. On the way to Lisbon, pass by Estoril, where Ian Fleming was inspired to create the James Bond 007 character.

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Lisbon: Design Your Guided Tour

10. Lisbon: Design Your Guided Tour

Book a personal guide for the whole day and plan your itinerary around exactly where you want to go. Take a closer look at the historical, culinary, cultural and architectural paradise of Lisbon.  Choose whether to visit the sunny towns of Estoril and Cascais on the beautiful Atlantic coast, known as the Portuguese Riviera, or to experience the mystical world of Sintra, with its fairy tale castles and romantic lanes. Introduce yourself to the Portuguese language or try culinary highlights such as port wine and the famous cream tarts.  Visit as many of the museums as you can, or explore the aquarium with the kids. Take the chance to sail on the river Tagus on a historic ship. Discover the spectacular city of Lisbon at your own pace and create memories that will last a lifetime. 

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Other Sightseeing Options in Estoril

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What people are saying about Estoril

Overall rating

4.9 / 5

based on 23 reviews

We had Joao as our tour guide and absolutely loved our experience. Our group was quite small (only 5 of us total) and we ended up sticking together for lunch in Sintra. We had a blast together! Joao was super friendly and kind, and made sure to check in with each of us throughout the trip. He was very informative and gave a fun overview of Portugese history along with the Pena Palace tour. Thank you for a lovely tour!

Lovely tour with a great person, Nuno. Didn't know when time has passed and I recomand this from my heart. A living fairytale, this part of the country. All the best, Nuno!

Portuguese culture at its finest! Big shout out to Nuno & Maria for being a part of a great day seeing some beautiful scenery - muito obrigado a todos :)

Our tour guide was fantastic and the whole trip was a must see!

Well organized tour. Awesome guides with outstanding attitude.