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Estoril

Sightseeing Walking Tours

Our most recommended Estoril Sightseeing 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. 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 & Cascais Ful-Day Tour

2. From Lisbon: Sintra, Cabo da Roca & Cascais Ful-Day Tour

This tour will take you to Sintra, a world heritage site, where medieval streets, castles, palaces, and chalets of diverse architectures coexist, inserted in a natural park that shows plants from diverse parts of the world, forming a vast and magical green forest.  Onwards, travel towards the Atlantic Ocean, to discover Cape Roca, the westernmost point of Europe. Travel along the sea and admire Guincho Beach enormous sand bed, which hosts many international surfing events due to gigantic waves. Pass through Cascais, and Estoril, both famous for their cosmopolitan environment, and finally visit Estoril’s worldly renowned Casino and beautiful gardens. Return to Lisbon driving along the Estoril Coast admiring the breath-taking sight of white sanded beaches along the way.

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.

From Lisbon: Sintra and Quinta da Regaleira Tour

4. From Lisbon: Sintra and Quinta da Regaleira Tour

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.  

Lisbon: Full-Day Sintra Tour with Pena Palace

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

Experience the best of Sintra with a guided tour of Pena Palace, Cabo da Roca, Hell's Mouth, and Cascais village. Visit Colares, renowned for its winemaking, and soak up the 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, 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.  Reach Cascais, a former fishing village, which is now one of the richest municipalities in Portugal.

From Lisbon: Sintra, Cascais, and Belem Full-Day Tour

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

Travel to Sintra, a World Heritage Site, where medieval streets, castles, palaces and chalets of different architectures coexist. See the park that brings together plants from different parts of the world, forming a huge and magical green forest. Next, head towards the Atlantic Ocean to discover Cabo da Roca, the westernmost point of continental Europe. Pass through Cascais and the neighborhood Estoril, both famous for offering a cosmopolitan atmosphere. See the world-renowned Estoril Casino and its beautiful gardens.Finally, return to Lisbon, driving along the Estoril coast and admiring the stunning views of the white sand beaches along the way. Once you reach Belem, learn how the Portuguese ships used to depart from here to discover the new world.

From Lisbon: Van Tour to Sintra, Cascais and Estoril

7. 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.

From Lisbon: Sintra Tour with Queluz Palace Entrance

8. From Lisbon: Sintra Tour with Queluz Palace Entrance

Explore the fantastic Palace of Queluz, built in the 18th Century, the official royal residence of King D. Pedro IV of Portugal. Visit the historic town of Sintra, a UNESCO World Heritage site. Admire the picturesque streets, the Sintra National Palace, the fountains, the churches, chapels, and shrines.  Climb to the Moorish Castle where the construction of the first sections of its wall dates from the 8th and 9th centuries. From the castle, you can enjoy a fantastic view of the whole region. Next, stop at the Pena Palace where you can admire a mix of architectural styles in the interior as well as in the exterior. Make sure to have your camera ready to capture the fantastic landscape surrounding the Palace. Discover the most westerly point of continental Europe and marvel at the fantastic view of the sea from the clifftops. Gaze at the beaches and the beautiful towns of Estoril and Cascais. Enjoy a tasting of the best regional wines at Colares in the cellars of Adega regional de Colares. On the way back, have the chance to enjoy this unique beach with its famous dunes. Finally, visit the charming town of Cascais, a former fishing village now filled with boutiques, restaurants, hotels, beaches, and more.

Lisbon: Design Your Guided Tour

9. 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. 

Lisbon: 3-Day Private Tour

10. 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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What people are saying about Estoril

Overall rating

4.9 / 5

based on 23 reviews

Don't miss going to Sintra - it was a real highlight of our Lisbon holiday and this was a well-organised trip. Our guide Max was excellent; so friendly and informative; and the group size was good - we were in a minibus for about 20/22 people. It was a very comfortable bus. We arrived early at the Palace and so the queue to get in was not long. It is an amazing building. Max took us on a tour but then we also had some free time to explore. Our bus took us down to Sintra where we had time for lunch and to explore the shops there. We also stopped at Cabo da Roca which is very windy! We then had some time in Cascais which is a pretty seaside resort.

Excellent tour and experience! Diego was very knowledgeable, professional, friendly, and helpful. The bus driver was very nice and the bus was very clean and comfortable. Fantastic!!

This was our first day trip on any vacation and we thoroughly enjoyed it. Visiting these places on our own would have been a nightmare and cost much more.

such an amazing experience. goncalo and filipe were, in one word, legends!! would recommend this trip to anyone who visits Lisbon!

Fun guide with good information. Kept us entertained.