The 15 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.Sintra: Castle of the Moors & Quinta Entry with Audio Guides

★★★★★★★★★★4.3 · 252 reviews · 1 day · from $57

You receive timed entry to Quinta da Regaleira, entry to the Moorish Castle, and three offline audio tours in English, French, German, or Spanish. Explore at your own pace, from the castle walls and Royal Tower to the Initiation Well, Leda’s Grotto, and Sintra’s historic center.

“Went to Quinta de Regaleira first, then Pena Palace, then Moorish Castle. It was a big day as we got the train from Lisbon. They were all great but Initiation Well/Waterfall the best and Moorish Castle walls second. A great day”

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5.Sintra: Official Public Bus Transport: All Palaces & Castles

★★★★★★★★★★3.6 · 218 reviews · from $15

Use Sintra’s official public buses for unlimited rides on lines 434 and 435 from your first validation. The 434 links Pena Palace and the Moorish Castle area, while the 435 serves Monserrate Palace and other sights. Bus tickets only are included, not palace admissions.

“the buses wrrefrewuebt and every driver was friendly and helpful”

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6.Sintra: Castle of the Moors Skip-the-Line Ticket+Audio Guide

★★★★★★★★★★4.4 · 191 reviews · 1 day · from $22

Visit the Moorish Castle independently with a one-day e-ticket and English audio tour on your smartphone. You’ll explore ancient walls, gates, the Royal Tower, and the Second Circle of Walls at your own pace. Bring headphones, a charged phone, sturdy shoes, water, and patience for steep, uneven paths.

“Great communication and ticket delivery from supplier. Beautiful castle and grounds and you can see Lisbon and the bridge from a distance. We did this tour same day in between Pena Palace and Quinta d.Reg. gardens.”

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7.Sintra: Castle of the Moors E-Ticket and Audio Guide

★★★★★★★★★★4.3 · 158 reviews · 45 - 90 minutes · from $19

Visit Sintra’s Moorish Castle at your own pace with an entry e-ticket and smartphone audio guide in English, German, Spanish, or French. Walk the Castle Keep, Royal Tower, Second Circle of Walls, Tomb, and medieval necropolis without a live guide or fixed group schedule.

“Poor! Your website is confusing and not user-friendly. We booked what was advertised as a “tour”, expecting a live person to meet us at the given “meeting location” and “specified time”. Nobody arrived! After calling and messaging on WhatsApp, we were told it was actually a self-guided audio tour. The audio did not even start at the meeting point, and it was extremely unclear which recordings matched which sites and where to start. We ended up wandering around aimlessly trying to guess where each track applied. In frustration, I turned it off and explored on my own. The biggest waste of money ever!”

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8.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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9.Lisbon: Sintra, Pena, Moorish Castle, Regaleira & Cascais

★★★★★★★★★★4.8 · 136 reviews · 8 hours · from $116

Spend eight flexible hours with a private English-speaking driver-guide such as Ash, Monir, or Kaiser, visiting Sintra’s castles, palaces, gardens, Cabo da Roca, Boca do Inferno, and Cascais. Transport, hotel pickup, water, and Wi-Fi are included, but entry tickets and food cost extra.

“Monir was an excellent driver and guide throughout our trip. He was very patient, kind, and always willing to help with anything we needed. His professionalism and friendly attitude made the whole experience even more enjoyable. We truly appreciated his efforts and highly recommend him”

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10.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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11.Sintra: Pena Palace, Moorish Castle, Regaleira, & Monserrate

★★★★★★★★★★5.0 · 26 reviews · 7 - 8.5 hours · from $99

Travel from Lisbon, Cascais, or nearby areas with guides such as Nayem or Neel to explore Sintra’s castles, gardens, and palaces. Choose three or four major sights, enjoy free time for lunch and pastries, and add Cabo da Roca or Cascais for an extra fee.

“excellent overall.the guide Neel was the best we could have as part of the trip”

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12.Lisbon: Pena Palace, Qta Regaleira, Moorish Castle & Cascais

★★★★★★★★★★5.0 · 17 reviews · 8 hours · from $147

You’ll tour Sintra by private BMW with an English or Portuguese guide, visiting Pena Palace, the Moorish Castle, Quinta da Regaleira, and Cabo da Roca. Guides such as Kazi, Nabir, Hossain, and Rajib can adjust the day, but entry tickets and lunch cost extra.

“This was an exceptional day trip and the perfect way to escape the bustle of Lisbon. Nabir was a phenomenal guide. warm, knowledgeable and incredibly accommodating. From the fairytale beauty of Pena Palace and the Moorish Castle to the dramatic cliffs of Cabo da Roca and the charm of Cascais, every stop was unforgettable. The transport was first-class, the driving felt safe and effortless and the entire experience was seamless. Truly a top class tour that I would recommend without hesitation to anyone!”

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13.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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14.Sintra:Pena Palace,Moorish Castle & Q-Regaleira Private Tour

★★★★★★★★★★5.0 · 10 reviews · 7.5 hours · from $102

Spend 7.5 hours with a private English-speaking guide visiting Pena Palace, the Moorish Castle, Quinta da Regaleira, Sintra, Cabo da Roca, Boca do Inferno, and Cascais. Pickup, transport, water, and guiding are included, but attraction tickets and food cost extra.

“A fost o experienta minunată, ghidul nostru Mr Fantastic ne-a dat cele mai bune indicații și explicații. Îl recomandam cu încredere.”

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15.Sintra Small Group: Pena Palace, Moorish Castle & Cascais

★★★★★★★★★★5.0 · 6 reviews · 8 hours · from $76

Join Rodrigo or another local English-speaking guide for an eight-hour trip from Lisbon with no more than five people. Visit Pena Palace, walk the Moorish Castle walls, stop at Peninha, and finish in Cascais with time for lunch and local shopping.

“Rodrigo is an excellent tour guide and very much fun person. I definitely recommend the tour!”

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