The 6 Best Sintra & Pena Palace Tours from Lisbon

1.Sintra: Castle of the Moors Skip-the-Line Ticket

★★★★★★★★★★4.6 · 2,893 reviews · 1 day · from $14Our pick

Visit Sintra’s Castle of the Moors with a one-day fast-track ticket and a Zoomguide audio guide in four languages. Walk ancient ramparts above the forest, see Pena Palace and the Atlantic, and plan your own route. Transportation is not included, and the steep site requires comfortable shoes.

“Beautiful landscape and viewpoint! Not a lot of historic writing or infos but you get over it very fast when you see the view!”

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2.Lisbon: Pena Palace, Moorish Castle, Qta. Regaleira & Sintra

★★★★★★★★★★5.0 · 325 reviews · 8 hours · from $132Top rated

You’ll visit Sintra’s grandest sights by comfortable BMW or VW with an English-speaking guide such as Kazi or Hossain. Expect steep walks, timed palace tickets, Sintra pastries at Piriquita, and possible coastal stops at Cabo da Roca and Cascais. Palace admission and lunch cost extra.

“One of the best tours we’ve ever had! Sintra is stunning but what made the day truly special was our guide, Kazi. He was informative, fun and knew all the best ways to avoid crowds and find perfect photo spots. We visited Pena Palace & gardens, the Moorish Castle and Quinta da Regaleira, with engaging stories that felt more like a friend sharing than a guide. Doing three places is really hard but we never felt bored, always exiting. He even introduced us to Sintra’s best pastries in town centre and gave tips for our trip to the Algarve. A real highlight of our Lisbon visit, highly recommend Tour7Portugal!”

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3.Sintra Cascais Private Tour with Pena Palace and Mouros Castle

★★★★★★★★★★4.5 · 280 reviews · 8 hours (approx.) · from $199

Spend about eight hours with a private English-speaking guide exploring Pena Palace, the Moorish Castle, Sintra, Cabo da Roca, Guincho Beach, Cascais, and Boca do Inferno. Hotel pickup, transport, water, WiFi, and both major entrance tickets are included.

“David was a great driver, extremely knowledgeable and gave us ample time to eat and explore. Sintra village was very small so not much to see, however the castle and the Pena Palace were fascinating. Lots of walking on stone paths. Rain made it slippery at times. We had intense fog so we were unable to have the views we had hoped for. We booked the full day tour. Our beachside drive home was lovely!!”

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4.Lisbon: Sintra, Pena Palace, Moorish Castle & Regaleira Tour

★★★★★★★★★★4.9 · 157 reviews · 8 hours · from $108

Spend eight hours with a private guide such as Neel, Nayem, Saif, or Hossein, visiting Sintra’s palaces, castle, gardens, and Atlantic coast. Hotel pickup, transport, water, Wi-Fi, and flexible pacing are included. Palace and monument tickets cost extra, so plan ahead.

“Hossein was incredible! Super knowledgeable, patient, friendly, and an excellent driver. I highly recommend Hossein, and would definitely book future tours with him when I come back. Hossein was so great, I booked a second tour with him for the next day :)”

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5.Sintra: Walking Tour with Palace, Castle, and Old Town Visit

★★★★★★★★★★4.9 · 66 reviews · 4 hours · from $47

Meet your English- or Portuguese-speaking guide at Sintra station and walk uphill through forest and gardens to the Moorish Castle and Pena Palace. Continue downhill toward Quinta da Regaleira or the National Palace, with history, nature, views, and local culture along the way. Plan for steep paths and about 10 kilometers.

“João was an amazing guide. Patient and so extremely knowledgeable. We got off the beaten path and saw so much! He knows all the beautiful trails and how to avoid queuing. Be prepared to walk a lot. Some of it quite steep. All of it very enjoyable.”

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6.Sintra Tour with Pena Palace, Moorish Castle and Regaleira – Private

★★★★★★★★★★5.0 · 16 reviews · 8 hours (approx.) · from $354

Spend about eight hours exploring Sintra with a private guide and air-conditioned minivan. Visit Pena Palace, the Moorish Castle, Sintra’s old town, and Quinta da Regaleira, with guides such as Miguel, Rui, and Simone bringing the sites to life.

“Miguel was an excellent tour guide. We had a great day with him exploring Sintra, the Moorish Castle and Regaleira.”

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