Queluz, Mafra & Atlantic Coast Private Shore Tour

8 hours Private tour

Queluz, Mafra & Atlantic Coast Private Shore Tour, photo 2 — Photos: the activity supplier, via Viator

About this activity

Discover a lesser-known side of Portugal on this private full-day shore excursion from Lisbon. Begin with a visit to the elegant Queluz National Palace, often called the “Portuguese Versailles,” and explore its richly decorated rooms and beautiful gardens. Continue through the countryside to a traditional village before visiting the impressive Palace-Convent of Mafra and its historic library. Travel onward to the charming fishing town of Ericeira, where you’ll have free time for lunch and enjoy the relaxed Atlantic atmosphere. In the afternoon, discover one of the historic Lines of Torres Vedras fortifications, built during the Napoleonic Wars, before following the scenic coastline to Cabo da Roca, the westernmost point of continental Europe. Admire dramatic cliffs and panoramic ocean views before returning comfortably to the Lisbon Cruise Terminal.

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At a glance

Duration: 8 hours
Confirmation: Instant confirmation
Ticket: Mobile or paper ticket accepted
Group: Your group only
People per booking: 1–8
Guide: English
Operated by: taxiGo DMC

Ages: Adults (0–99 years)

What is included

Included

Included: Entrance ticket to one monument
Included: Private transportation
Included: All local taxes
Included: Pick-up and drop-off at the Lisbon Cruise Terminal
Included: Professional English-speaking guide/driver

Not included

Not included: Lunch and beverages
Not included: Personal expenses
Not included: Gratuities (optional)
Not included: Additional monument entrance tickets

Itinerary

Lisbon Cruise Port

30 min

Pick-up at the Lisbon Cruise Terminal – 30 minutes

Meet your private guide directly at the Lisbon Cruise Terminal and begin your full-day journey through some of Portugal’s most fascinating royal, rural, coastal, and historic destinations.
Lisbon

30 min

Drive to Queluz Palace – 30 minutes

Relax during a comfortable drive from Lisbon to Queluz while your guide introduces the history of the Portuguese monarchy and the importance of this elegant royal residence.
Palacio Nacional e Jardins de Queluz

1 h 15 min

Explore one of Portugal’s finest Rococo palaces, often called the “Portuguese Versailles.” Discover lavish royal apartments, richly decorated salons, and elegant ceremonial rooms before strolling through the beautiful formal gardens once used for royal celebrations and entertainment.
Sintra

30 min

Traditional Portuguese Village Visit – 30 minutes

Experience the authentic atmosphere of rural Portugal during a stop in a traditional countryside village. Learn about local customs, agricultural traditions, and the everyday life of Portuguese communities before the country’s rapid modernization.
Mafra

20 min

Drive to Mafra – 20 minutes

Continue through the scenic Portuguese countryside toward Mafra, home to one of the country’s most impressive monumental complexes.
Mafra

1 h 15 min

Mafra Palace & Library – 75 minutes

Visit the magnificent Palace-Convent of Mafra, a masterpiece of Portuguese Baroque architecture. Explore its grand halls, royal apartments, basilica, and extraordinary historic library, which houses thousands of rare and ancient books.
Ericeira

20 min

Drive to Ericeira – 20 minutes

Travel toward the Atlantic coast and enjoy the changing scenery as you approach the charming fishing town of Ericeira.
Ericeira

one hour

Lunch Break in Ericeira – 60 minutes

Enjoy free time for lunch in one of Portugal’s most picturesque coastal towns. Choose from traditional restaurants serving fresh seafood, regional specialties, Portuguese wines, and local desserts while enjoying the relaxed seaside atmosphere.
Lines of Torres Vedras

30 min

Lines of Torres Vedras Fortifications – 30 minutes

Discover an important chapter of Portugal’s military history with a visit to one of the defensive fortifications built during the Napoleonic Wars. Learn how this remarkable defensive system helped protect Lisbon from French invasion.
Cabo Da Roca

30 min

Atlantic Coast Scenic Drive & Coastal Villages – 30 minutes

Travel along the dramatic Atlantic coastline, passing traditional villages, rugged cliffs, and scenic viewpoints while enjoying some of the most beautiful coastal landscapes in the Lisbon region.
Cabo Da Roca

20 min

Cabo da Roca – 20 minutes

Stand at the westernmost point of continental Europe and admire spectacular panoramic views over the Atlantic Ocean. Enjoy time for photographs and experience the dramatic scenery of towering cliffs and the open sea.
Lisbon Cruise Port

50 min

Return to the Lisbon Cruise Terminal – 50 minutes

Relax during the scenic journey back to Lisbon before being dropped off comfortably at the cruise terminal in time for your ship’s departure.

Meeting point and pickup

The operator picks every participant up from their accommodation or the points below.

Pickup points

Olivia Lisboa Hotel
Hotel Florecente
Meraprime Gold Design Hotel
Hotel Corpus Christi Lisboa - Leonardo Limited Edition
Da Estrela Small Luxury Hotels Of The World
Eurostars Lisboa Baixa
Westlight Lisboa Madalena
ME Lisbon
DUO Hotel Lisbon, Curio Collection By Hilton
Empire Marques Hotel
The House on Pink Street
The Emerald House Lisbon, Curio Collection By Hilton

and 404 more pickup points

The driver will meet you in the Lisbon Cruise Port with the sign with your name. Please inform about your pick up details in advance.

Cancellation

All sales are final. No refund is available for cancellations.

If you cancel	You get back
Less than a day before	0%

Good to know

Specialized infant seats are available
Suitable for all physical fitness levels

Options

Private Tour for 1 passenger

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Private Tour for 3 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Private Tour for 6 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Driver-Only Tour

No guide, fixed 7:30 AM pickup: Private transportation only. No guide, no entry tickets. Available on Tuesdays with a fixed 7:30 AM pick-up.

Pickup included
Private Tour for 2 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Private Tour for 4 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Private Tour for 7 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Private Tour for 5 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included
Private Tour for 8 passengers

Private transportation: Includes private transportation to and from the Lisbon Cruise Terminal

Private guide: Enjoy the company of a private guide

Pickup included