Lisbon in 1 Day for Couples - Cabo da Roca panoramic coastal viewpoints
In Collaboration with Hugo Romano Unipessoal Lda. Updated on February 23, 2026.
Private full-day sightseeing from Lisbon to Sintra and the Estoril coast. See Cabo da Roca, Pena Palace, Quinta da Regaleira, and Boca do Inferno; entrances to Regaleira and Pena are not included in the tour price.
This itinerary was created in collaboration with Hugo Romano Unipessoal Lda, inspired by the tour Private Sintra and Cascais Tour from Lisbon. Please check the tour information during your booking process.
Highlights
- Cabo da Roca panoramic coastal viewpoints
- Palácio Nacional da Pena (Pena Palace) fairytale castle
- Quinta da Regaleira historic gardens and Initiation Well
- Boca do Inferno cliff view
- Coastal drive through Cascais and Estoril
Itinerary
Day 1
Full-day private tour with hotel pickup in Lisbon and a loop through Cabo da Roca, Sintra and the Cascais/Estoril coast. Total tour duration: 8 hours from pickup.
Pickup in Lisbon (hotel or central meeting point)
Private vehicle pickup from your Lisbon hotel or agreed central meeting point. The driver will confirm the exact pickup time and location in advance.
Tips from local experts:
- Confirm your exact pickup address the night before to avoid delays; central pickups typically begin in Baixa/Chiado/ Avenida da Liberdade areas.
- Have any mobility needs or luggage pieces ready at pickup so the driver can assist quickly.
- If you prefer a slightly earlier departure to reduce crowding at Sintra, request the 08:30 pickup when confirming arrangements.
Cabo da Roca — westernmost point views
Enjoy panoramic views of the dramatic coastal cliffs at Cabo da Roca. Short walk to viewpoints and photo stops. Time allocated to take in the scenery and short coastal walk.
Tips from local experts:
- Bring a windproof layer — conditions at the cliffs can be much windier and cooler than Lisbon.
- Follow marked paths and viewing areas for safety; avoid getting too close to cliff edges.
- There are limited shelter and amenities at the site; use restroom facilities in Cascais or Sintra beforehand when possible.
Palácio Nacional da Pena (Pena Palace) — Sintra
Visit the exterior, terraces and viewpoints of the colorful Pena Palace perched on the Serra de Sintra. Note: palace entrance fee is excluded from the tour price; time is allocated for exterior viewpoints and short exploration of the immediate palace grounds.
Tips from local experts:
- Pena Palace has uneven paths and some steep sections; comfortable walking shoes are recommended.
- Entrance to the palace interior is not included — if you plan to enter, have an entry ticket ready or be prepared to purchase one locally.
- Allow extra time for photos at the main viewpoints; the palace terrace offers expansive panoramic views of Sintra and the surrounding hills.
Quinta da Regaleira — gardens and Initiation Well
Explore the mystical gardens, grottoes and the Initiation Well at Quinta da Regaleira. Note: entrance fee to Quinta da Regaleira is excluded from the tour price; allocated time covers the main gardens and key features.
Tips from local experts:
- The estate includes stairs and narrow tunnels; not all paths are stroller or wheelchair friendly.
- If you intend to visit the Initiation Well, expect several flights of stone steps — plan accordingly for footwear and mobility.
- Purchase or prepare the Regaleira entry ticket in advance if you want guaranteed timed access; otherwise you can view many highlights in the gardens during the allocated time.
Boca do Inferno viewpoint — Cascais
Short stop at the dramatic Boca do Inferno cliff formation near Cascais for coastal views and photos. The route returns to Lisbon via the Cascais and Estoril coastline.
Tips from local experts:
- Watch for slippery surfaces on coastal rocks; keep to designated viewpoints for safety.
- This is a good quick stop for photos — if you prefer a longer seaside walk, let the guide know so timing can be adjusted conservatively.
- There are cafés and restrooms in central Cascais if you need a short break before the return drive.
Return to Lisbon — drop-off
Drive back to the agreed drop-off location in Lisbon, returning via the coastal road through Estoril and Cascais. End of private tour.
Tips from local experts:
- Expect light traffic returning to Lisbon in the mid/late afternoon; the driver will choose the most efficient route.
- If you plan to continue your evening in Lisbon, ask the driver for a restaurant or sunset viewpoint recommendation in the city.
- Confirm your preferred drop-off point (hotel or central location) when the guide checks in at the end of the tour.
Itinerary Attributes
| Days | 1 |
| Highlights | 5 |
| Season | - |
| Month | - |
| Persona | Couples |
| Transfers | 2 |
| Restaurants | - |
| Total Activities | 4 |
| Total Places | 6 |
| Activities Types | Transfer, Attraction |
