Top 15 Sintra and Pena Palace Tours in Portugal

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

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

Use a one-day fast-track ticket to explore Sintra’s Castle of the Moors, a 9th-century hilltop fortification with steep ramparts, mossy boulders, forest paths, and views toward Pena Palace and the Atlantic. Your ticket includes the Zoomguide audio app in English, Portuguese, Spanish, or French. Transportation is not included.

“We visited on a wet day so it was difficult to appreciate the views but the castle itself was spectacular snd walking around was well signed & easy”

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

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

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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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 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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4.Castle of the Moors & Quinta Entry with Audio Guides

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

Visit Sintra’s Moorish Castle and Quinta da Regaleira at your own pace with timed entry to both sites and three smartphone audio tours. Hear stories about the Castle Keep, Royal Tower, Initiation Well, Tomb, Leda’s Grotto, Seteais Palace, and Sintra’s old town. Bring charged phones, headphones, good shoes, and patience for busy entrances.

“Easy to navigate and listen to audio as your walk thru the park. Giving suggestions as to where to walk to.”

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5.Official Public Bus Transport: All Palaces & Castles

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

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

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

You’ll visit Sintra’s Moorish Castle independently with an adult entry ticket and English audio tour on your smartphone. Walk through ancient gates, the Royal Tower, and the Second Circle of Walls while hearing historical stories at your own pace. Bring headphones, a charged phone, and sturdy shoes. Transportation is not included.

“Other than the weather it was great, lots to see, I'm sure the views would have been fantastic, except the weather prevented that. it was foggy and it added a whole new dynamic to the visit which was very enjoyable. Don't let the weather hamper your visit.”

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

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

Visit Sintra’s Moorish Castle on your own schedule 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 Christian Necropolis. Bring your own phone and headphones, and allow 45 to 90 minutes.

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

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

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

“We were pleasantly surprised to have private transportation. Our guide Koyes/Kaiser was excellent. He gave us all the tips for having the best experience. He knew a lot about the area and gave great commentary. Great trip for a good price with an excellent tour guide.”

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10.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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11.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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12.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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13.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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14.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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15.Sintra Full-Day: Pena, Moorish Castle & Regaleira with Tickets

★★★★★★★★★★5.0 · 11 reviews · 8 to 10 hours (approx.) · from $234

Travel from Lisbon in a private, air-conditioned vehicle and visit Pena Palace, its park, the Moorish Castle, Sintra village, and Quinta da Regaleira. Guides such as Rui, Marta, Jon, and Hugo are praised for clear explanations and flexible pacing. Tickets, monument guiding, WiFi, and hotel pickup are included.

“Our guid Rui was excellent. He is from Sintra so he knew the places to see and gave history of the monuments, castles and palaces.”

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