Ericeira and Sintra in 2 Days: The Best Road Trip from Lisbon for Palaces and Coastal Vibes
Looking for the perfect 2-day escape from Lisbon? This weekend road trip combines the fairytale palaces of Sintra with the laid back surf town vibes of Ericeira, making it one of the best road trips for visiting coastal towns in central Portugal.
The National Palace of Pena
When we visited Portugal, we initially had more time in Lisbon - however after realising how expensive accommodation was we decided to rent a car and explore the coast instead.
These ended up being some of my favourite memories from Portugal - the beaches and coastline reminded me so much of home (Sydney) and I loved the freedom and spontaneity that comes with driving.
Lisbon coastal road trip summary
Getting started: Driving from Lisbon & car rental tips
2-day Ericeira and Sintra Itinerary: surf town vibes, seaside cliffs and fairytale palaces
FAQs
Getting started: Driving from Lisbon
Route overview: Lisbon → Ericeira → Sintra → Cape Roca → Lisbon
This road trip forms a loop that takes you from Lisbon up the coast to Ericeira, then cuts inland to the fairytale town of Sintra, detours to the coast before looping back to Lisbon.
Here’s a rough breakdown:
Lisbon to Ericeira: ~40 minutes (49 km)
Ericeira to Sintra: ~30 minutes (30 km)
Sintra to Cape Roca (via Azenhas do Mar): ~45 minutes (31 km)
Cape Roca to Lisbon: ~50 minutes (48 km)
Total driving time: ~2 hours 45 minutes
Total distance: 158 km
This makes it ideal for a chill two day trip (not much driving by Australian standards) so you have plenty of time to explore and relax.
Car rental tips
When it comes to choosing between joining a tour or renting a car, I’d recommend renting a car as it gives you the freedom to make spontaneous stops along the way. The roads felt very safe to drive in Portugal, with plenty of rental options available.
A few tips:
Pick up your rental car in Lisbon city centre or airport for best availability and prices
Choose a small or mid-sized car - some roads and parking areas in Sintra are narrow and tight
Use Google Maps or Waze for real time navigation and traffic alerts
We rented a 2 person Smart Car for ~AU$90 from Cael Rent-a-Car which fit our 2 carry-on sized suitcases and 2 backpacks, and paid AU$40 for fuel.
However if you’re short on time and only have a day to visit Sintra, you can join a day tour from Lisbon which covers transport and visits to different palaces.
Best times to avoid traffic
Avoid weekday mornings (7:30-9:30am) and late afternoon (5-7pm) when leaving Lisbon.
Ericeira and Sintra are popular weekend spots, especially in the summer - leave early in the morning (by 9am) for the best experience.
Sintra’s narrow roads get congested around midday - arriving early helps beat the crowds and find parking (or go later in the afternoon once the crowds dissipate).
Suggested route map
Here’s a map of the full loop from Lisbon to Ericeira, Sintra, Cape Roca and back to Lisbon. You can follow this route or adjust it based on your timing and interests - or do it in reverse if that works better for you!
Day 1: Ericeira - Portugal’s surf town by the sea
Getting there
Drive 40 minutes north (49 km) from Lisbon to reach Ericeira.
You can also take a coastal route via Azenhas do Mar if you want an early stop, however I would recommend stopping there on your way to Cape Roca instead.
What to see and do
Explore Old Town: Cobblestone streets, beautiful blue-trimmed houses (reminded me of Santorini & Mykonos in Greece) and artisan shops
Watch the sunset from Praia de Empa - a more quiet viewpoint
Rent a board or take a surf lesson at Portugal’s only World Surf Reserve
Relax on one of the beaches - these reminded me so much of home with their sandy beaches and ocean waves.
Sunset in Ericeira
Where to eat
Takeaway: Churrasqueira Do Largo
Dining: Mar das Latas Wine & Food
Bar: Salão de Jogos Tiro Taco - Pool & Sports Bar (fun vibes with darts, pool tables and karaoke!)
Where to stay
You can either stay overnight in Ericeira or drive to Sintra in the evening and stay overnight. These options all include parking.
Ericeira:
Budget: Ericeira Chill Hill Hostel & Private Rooms - we stayed here!
Mid-tier: Selina Boavista Ericeira
Sintra:
Budget: Moon Hill By Joivy
Mid-tier: NH Sintra Centro
My experience in Ericeira
Sunset from Praia de Empa & old town streets
Ericeira wasn’t originally on our itinerary - I only added it after noticing there was a Selina location there, just like our stay in Lisbon.
I’m so glad we visited this beautiful coastal town. The blue and white houses reminded me of the Mediterranean (Greece, Italy), while the beaches and rugged coastline felt like home - especially comforting if you’re homesick.
We skipped surfing (it was a bit chilly in late September) but loved wandering the town, exploring shops and soaking in the slower, small town vibe.
We were surprised when we went looking for Portuguese style chicken (which is huge in Sydney) only to learn it's not really a thing in Portugal! If you are craving Portuguese chicken though, Churrasqueira Do Largo hit the spot - grab some takeaway and enjoy it in a sunny town square like we did.
Day 2: Sintra - Fairytale palaces and scenic coastal drives
Getting there
Drive 43 minutes south (31 km) from Ericeira to National Palace of Pena via Sintra in the morning to beat the morning crowds, before returning to Sintra for lunch.
After lunch, drive 25 minutes west (18 km) to Azenhas do Mar to start your coastal drive, finishing at Cape Roca before returning to Lisbon.
If you have time, you can add an extra day by staying and exploring the area near Cascais before returning to Lisbon.
The beautiful Praia Azenhas do Mar
What to see and do
Visit the fairytale National Palace of Pena and explore the parkland trails nearby
Take a dip in the ocean rock pool and have a drink at Praia Azenhas do Mar
Drive along the coastline for stunning ocean views
Watch sunset at the most eastern point in Europe at Cabo da Roca (Cape Roca).
Where to eat
Sintra: Restaurante Mira Serra - super local experience!
En route to Cape Roca: Roulote da Gigi
Tips for visiting the National Palace of Pena
One thing I didn’t realise about Sintra is that there’s a lot of different palaces in Sintra-Cascais Natural Park, and they all require a different entrance ticket.
There’s a few options for the National Palace of Pena which are equally as confusing.
A few tips:
A ticket for Pena Park will get you into the palace grounds where you can explore the National Palace of Pena up close. I recommend this for taking photos and exploring the grounds as it only costs €10.
A ticket for Park and National Palace of Pena will include a scheduled entrance time to walk through the interior of the palace. We skipped this one as it’s an extra €10 and we heard that it gets crowded - and weren’t that interested in the interior design.
There is also a guided tour option if you would like to hear someone take you through the history. We followed one of these groups for a short period before continuing to explore on our own.
Pena Park is open from 9am to 7pm, last admission at 6pm. The National Palace of Pena (interior) is open from 9:30am to 6:30pm, last admission 6pm.
Other popular ones are the Moorish Castle and the National Palace of Sintra, however we chose to skip in the interest of time.
My experience in Sintra
I couldn’t contain myself when I was walking up to the National Palace of Pena - I felt like I was going into a real life Disney castle. The colours are as vibrant in real life as the photos, and it was incredibly pretty to admire as we wandered through the corridors and climbed staircases to get to different levels. There are some lovely walking paths around the gardens as well which are worth exploring.
I also enjoyed dining at Restaurante Mira Serra in Sintra and observing the locals - there were families celebrating birthdays, locals where the wait staff knew their order, local soccer teams coming for lunch after their Saturday game.
Praia Azenhas do Mar reminded me so much of home, complete with an ocean rock pool! I’m so grateful we left Lisbon to explore the coast - I never would have known otherwise.
FAQs
Can I do this trip in reverse?
You absolutely can! You can head straight to Sintra first thing in the morning, before exploring the coastline in the afternoon.
Can I do it without a car?
You can visit Sintra without a car by taking public transport or joining a day tour from Lisbon, however it’s more difficult to visit the coastal spots.
Is it beginner-friendly for driving?
Portugal’s roads are safe, well maintained and easy to drive making them beginner friendly. They drive on the right side of the road, so if you’re used to the left (like me!) then it does take an hour or so to get used to it.
What if I want to stay one more day?
A great option is to stop along the southern coastline and Cascais after visiting Cape Roca. Spend an extra day exploring this area, before heading back to Lisbon.
Thinking of visiting Lisbon and Porto? Read my Portugal Series for more itinerary ideas and guides.
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