15 Palace Tours in Portugal Worth the Trip

1.Pena Palace, Moorish Castle, Qta. Regaleira & Sintra

★★★★★★★★★★5.0 · 325 reviews · 8 hours · from $132Our pick

This eight-hour Sintra tour from Lisbon includes Pena Palace, its gardens, the Moorish Castle, Quinta da Regaleira, Sintra Old Town, and a Piriquita pastry stop. Guides such as Kazi and Hossain provide English commentary, drive a clean BMW or VW, and may add Cabo da Roca and Cascais when time and route allow. Palace tickets and lunch cost extra.

“Amazing and very organised tour with Tour7Portugal. loved it!”

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2.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 guide such as Ana, David, Pedro, or Anna, visiting Pena Palace, the Moorish Castle, Sintra village, Cabo da Roca, Guincho Beach, Cascais, and Boca do Inferno. Tickets, transport, water, WiFi, and hotel pickup are included. Expect steep paths, stairs, changing weather, and a flexible coastal drive.

“Fantastic journey to the Moorish castle, Pena Palace, Cabo de Roca and scenic drive along the Atlantic coastline.”

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3.Official Public Bus Transport: All Palaces & Castles

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

Use Sintra’s official Scotturb buses for one day with unlimited rides on routes 434 and 435. Route 434 serves Pena Palace and the Moorish Castle, while 435 links Regaleira and Monserrate Palace. Validate your digital ticket on the bus, then hop on and off as often as you like.

“You can take the bus all day if you want. We never waited a long time to take the bus.”

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

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

Travel from Lisbon, Cascais, or Costa da Caparica with a private guide such as Neel, Nayem, Saif, or Hossein. Visit Pena Palace, the Moorish Castle, Sintra, and Quinta da Regaleira, then continue to Cabo da Roca, Cascais, and Boca do Inferno. Expect flexible pacing, photo help, local food tips, and plenty of walking.

“Nothing it was excellent so was Saiful Mr Fantastic 🥰”

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5.Sintra Private Tour with Tickets: Pena Palace & Moorish Castle

★★★★★★★★★★5.0 · 112 reviews · 4 hours 30 minutes (approx.) · from $181

Spend about 4.5 hours with a private English-speaking guide exploring Sintra’s Moorish Castle and colorful Pena Palace. Your air-conditioned vehicle, entry tickets, water, and guided visits are included. Guides such as Jorge, Paula, Leo, and Patricia are praised for local insight, flexible pacing, shortcuts, and help with crowded entrances.

“Jorge was amazing. So funny. We had such an enjoyable day, so much laughter and we learnt so much about Sintra. Thank you for a great day.”

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6.Walking Tour with Palace, Castle, and Old Town Visit

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

Meet guide João Varanda, or another Greenwalk guide, at Sintra station for a private four-hour hike through forests, gardens, and steep hill paths. Visit the Moorish Castle, Pena Palace, Quinta da Regaleira, or the National Palace based on your interests. Monument tickets, food, and water cost extra.

“Excelente tour! Lidia went far and beyond to make sure we have a good time. Thank you Lidia!!”

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7.Pena Palace, Moorish Castle, Regaleira, & Monserrate

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

Spend 7 to 8.5 hours touring Sintra in a private, air-conditioned vehicle with an English-speaking guide such as Nayem or Neel. Visit the Moorish Castle, Pena Palace, Regaleira, and Monserrate, with time for lunch and Sintra pastries. You can also add Cabo da Roca, Boca do Inferno, and Cascais for an extra fee.

“Nayem was a fantastic guide, providing history and local insight. The sights were beautiful. So glad I booked the tour.”

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8.Pena Palace, Qta Regaleira, Moorish Castle & Cascais

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

Spend eight hours exploring Sintra in a private BMW with an English or Portuguese-speaking guide. See Pena Palace, the Moorish Castle, Quinta da Regaleira, and Cabo da Roca, with free time for lunch in Sintra. Guides such as Kazi, Hossain, Nabir, and Rajib are praised for flexible planning and careful driving.

“After changing our tour three times because of palace closures in Sintra due to storms, we finally went and our guide Kazi was great. Quinta da Regaleira and the town center were beautiful! he also took us to Cabo da Roca and Cascais which were amazing. Kazi really saved our trip. We also had the pleasure of exploring Lisbon with him! his extensive knowledge, impeccable driving and engaging personality made every moment unforgettable. It was an experience of pure delight.”

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9.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 by private, air-conditioned minivan. Your guide leads visits to Pena Palace, the Moorish Castle, the historic center, and Quinta da Regaleira, including its famous initiation wells. Pickup is available from Lisbon, Sintra, and Cascais, with tickets, WiFi, and bottled water included.

“The personal touch and extra care that was given to me by our tour guide Rui. He made sure to make it easier for my back problems. He was great. His knowledge combined with his personal childhood memories made it even more engaging.”

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10.Pena Palace,Moorish Castle & Q-Regaleira Private Tour

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

Spend 7.5 hours with an English-speaking private guide exploring Sintra’s Pena Palace, Moorish Castle and Quinta da Regaleira, with free time for lunch and a final Atlantic coast drive through Cabo da Roca, Boca do Inferno and Cascais. Guides such as Mr Fantastic and Saif are known for useful history, scenic photo help and flexible personal service.

“We liked it very much! We liked most the Moorish Castle! Mr Fantastic was truly fantastic! He was very helpful and he told us interesting facts about Sintra! We highly recomend him!”

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

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

Spend eight hours with a maximum of five people, visiting Pena Palace, the Moorish Castle, Sintra, Peninha, and Cascais. Guide Rodrigo leads the English-language tour, with hotel pickup in central Lisbon, an air-conditioned van, time for photos, local walks, lunch, and free time.

“What can we say about Lisbon and especially about this tour. But most of all what can we say about this guy... our guide... Rodrigo! A perfect person that with his kindness and love for his particular work as a tourist guide, overexceeded every expectation of ours. The small tour to Pena Palace and the Moorish castle combined with small stops on other perfect locations such as the village of Sintra, the old chapel Santuàrio de Peninha and last the beautiful resort-village of Cascais, is the perfect way to start your visit in Lisbon region. Again many credits to Rodrigo. Places mean nothing without a nice company.”

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12.Guimaraes Local Tours ; Visit the Castle , Palace and City

★★★★★★★★★★5.0 · 6 reviews · 3 hours

Spend three hours with Leandro, a Guimaraes native, visiting the castle, Duke’s Palace, and historic center. He guides in English, Portuguese, or Spanish, shares local stories and practical tips, and provides hotel pickup and drop-off in Guimaraes or Braga. The private tour costs $235 for up to two people.

“Our guide Leandro was very knowledgeable and friendly. It was so much fun going through the castle, palace and old historical center of Guimarães. I highly recommend this experience and our guide!”

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13.Moorish Castle, Pena Palace, Cabo da Roca, & Cascais

★★★★★★★★★★5.0 · 6 reviews · 7 hours · from $99

Travel from Lisbon in a private, air-conditioned vehicle with an English-speaking driver-guide. Visit the Moorish Castle, Pena Palace and gardens, Cabo da Roca, Boca do Inferno, and Cascais. Guides including Nayem and Neel are known for careful driving, useful local advice, and memorable photos. Palace entry costs extra.

“Our guide was amazing! From the moment Nayem picked up until the end of our day together, everything went perfectly. He had interesting commentary, great tips about how we should navigate each location, and by the end of the day, we were really sad to have to say goodbye! We would absolutely recommend booking Nayem for a day touring Sintra and the surrounding areas.”

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14.Pena Palace, Moorish Castle, Monserrate & Cabo Roca.

★★★★★★★★★★5.0 · 5 reviews · 8 hours · from $147

Spend eight hours with guide Kazi exploring Sintra’s Pena Palace, Moorish Castle, Monserrate, Cabo da Roca, Guincho Beach, and Boca do Inferno. Pickup and return are available in Lisbon, Cascais, Almada, and Costa da Caparica. A BMW, hotel pickup, Wi-Fi, water, and guided castle visit are included, but palace tickets and meals cost extra.

“An unforgettable day in Sintra! Stunning fairytale palaces, a fantastic guide with great driving skills, and breathtaking scenery made the entire experience truly special.”

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15.Pena Palace, Moorish Castle,Quinta ad Regaleira:Walking tour

★★★★★★★★★★5.0 · 3 reviews · from $80

Join Alexandra, a local Sintra guide, for a small-group walking tour from Lisbon. You’ll explore Sintra’s old center, hike to Moorish Castle, visit Pena Palace and Quinta da Regaleira, and hear local stories along the way. Transport is included, but admission tickets cost extra. Expect steep trails, six hours of walking, and no lunch stop.

“Tour Guide shared her personal stories growing up in Sintra which added more meaning to this walking tour. You have been warned that there is a lot of walking up and down so please be mentally prepared and wear good walking shoes.”

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