Best Royal Castle Tours in Lisbon — Our Top 6

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

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

Travel from Lisbon in an air-conditioned BMW or VW with guide-drivers such as Kazi or Hossain. See Pena Palace, the Moorish Castle, Quinta da Regaleira, Sintra’s pastry shops, and optional Cabo da Roca and Cascais. Expect hills, timed palace tickets, and a full eight hours on the move.

“tour was very nice and well organised. it truly was a wonderful experience with them. good day!”

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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 English-speaking guide such as Ana, David, Anna, or Pedro. See Pena Palace and the Moorish Castle, then follow the coast to Cabo da Roca, Guincho Beach, Cascais, and Boca do Inferno, with transport, tickets, water, and WiFi included.

“Anna was a fantastic guide. Extremely knowledgeable and fun . The best part is she adjusted the schedule.l to avoid the crowds wherever possible. She contacted us the night before to ask if we could start at 8 instead of 830. We are glad she did. Sea food restaurant by the ocean was fantastic and drove back along the coast to avoid rush hour traffic. Spoke excellent English. Would book again”

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

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

Spend eight hours with a private English-speaking guide such as Neel, Nayem, Saif, or Hossein, visiting Sintra’s palaces and castles, Cabo da Roca, Cascais, and Boca do Inferno. The day is flexible, photo-friendly, and driven in a Wi-Fi-equipped vehicle, but entrance tickets and meals cost extra.

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

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

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

Spend eight hours exploring Sintra with a private English-speaking guide and air-conditioned minivan. Visit Pena Palace, the Moorish Castle, Sintra’s old center, and Quinta da Regaleira, including its famous initiation wells. Guides such as Miguel, Nuno, Simone, and Rui have been praised for clear, personal commentary.

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

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

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

Join Rodrigo or another local English-speaking guide for an eight-hour trip from Lisbon to Pena Palace, the Moorish Castle, Peninha, Sintra, and Cascais. With no more than five people, you get a slower pace, clear commentary, photo time, and a two-hour break for lunch in Cascais.

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

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

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

This seven-hour private tour takes you from Lisbon to Sintra, the Moorish Castle, Pena Palace, Cabo da Roca, Boca do Inferno, and Cascais. Your English-speaking driver-guide, such as Nayem or Neel, handles the driving, timing, and local commentary while you focus on the views.

“Leiðsögumaðurinn okkar Nayem var mjög góður, sagði frá mörgu merkilegu og var alltaf á athuga hvort við værum sátt og ánægð með ferðina. Dagurinn var í alla staði góður. Við stoppuðum á veitingastað sem var mjög fínn - lítill staður fjarri ferðamönnum. Mæli 100 prósent með svona ferð með einkabílstjóra á flottum bíl 😎”

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