Lisbon’s proximity to stunning coastlines, lush parks, and historic sites makes it an ideal base for hikers and trekkers looking to explore Portugal’s natural beauty. The city’s scenic surroundings are perfect for everything from gentle walks along the Atlantic to challenging mountain climbs. We especially love the coastal route to Praia da Adraga for its rugged beauty and the Hike to the highest point of Arrábida Mountain, which offers breathtaking views over the ocean and inland. Plus, the dinosaur footprints at Espichel Cape make for a fun, prehistoric detour that’s as educational as it is scenic. If you’re looking to combine impressive landscapes with cultural sites, options like the From Lisbon: Sintra, Pena Palace & Cabo da Roca Hiking Tour and the Hike in Sintra offer a mix of history and nature that’s hard to beat.
Lisbon is not just about city life; it’s a gateway to varied terrains and natural experiences. Whether you prefer gentle coastal strolls, mountain ascents, or exploring dinosaur footprints, the options are diverse and well-suited to different levels of fitness and interests. For those wanting a guided, in-depth experience, tours like the Sintra & Cabo da Roca hike are perfect, while independent travelers might enjoy exploring the West Coastline on their own.
Below, we’ve compiled a list of the 10 best hiking and trekking tours in Lisbon. Each offers a different flavor of adventure—some focus on scenic coastal trails, others on mountain summits, and a few combine hiking with cultural highlights or prehistoric discoveries. Read on to find the one that matches your travel style and fitness level.
1. From Lisbon: Sintra, Pena Palace & Cabo da Roca Hiking Tour
At number 1, this full-day trip from Lisbon combines a visit to the UNESCO World Heritage site of Sintra, with the chance to see the exteriors of Pena Palace. The tour offers a soft hike along the cliffs of Cabo da Roca, the westernmost point of mainland Europe, along with breathtaking views of the Atlantic and Sintra-Cascais Natural Park. This tour is perfect for travelers who want a balanced mix of sightseeing and light outdoor activity. The itinerary includes visits to Pena Palace (guided exterior tour), a walk through Sintra’s charming streets, and a scenic 70-minute walk on the cliffs of Cabo da Roca, ending at Praia da Adraga. Many reviewers praise the knowledgeable guides like Walter and Jorge, who make history come alive while highlighting the area’s natural beauty. The tour’s value lies in its comprehensive coverage—transport, guided visits, and scenic walks—all in just over six hours. Ideal for those with limited time but wanting a meaningful day out, the trip offers the chance to see iconic landmarks and enjoy a gentle coastal hike without needing advanced fitness.
Bottom Line: A great choice for history lovers who also want ocean views without strenuous trekking.
2. Sintra, Pena Palace & Cabo da Roca Hiking Guided Tour from Lisbon
This smaller, more intimate tour offers a personalized experience capped at 12 participants. For around $174.15, you get a guided walk through Sintra’s streets, a guided exterior tour of Pena Palace, and a 3-mile coastal hike from Cabo da Roca to Praia da Adraga. The highlight here is the hiking along the Atlantic coast, which is both scenic and manageable. The guide emphasizes local flora, fauna, and history, bringing the landscape to life while allowing for a relaxed pace. The tour’s “small group” format ensures you’re not lost in a crowd, making it ideal for travelers who prefer a more personal connection and detailed explanations. The hike’s moderate difficulty suits those comfortable with walking 5 kilometers, and the stops at Adraga Beach give a chance to relax and take photos of distinctive rock formations. Reviewers note the knowledgeable guides and the well-organized logistics, despite some minor scheduling quirks.
Bottom Line: Perfect for those who want a combination of cultural exploration and coastal scenery with a small-group vibe.
3. Jurassic Hiking tour to footprints of dinosaur in Espichel Cape
Number 3 is a unique blend of outdoor adventure and paleontological discovery. On this 7-hour trip, you’ll explore the Jurassic cliffs of Espichel Cape, where fossilized dinosaur footprints from 150 million years ago** are visible. The tour includes a guided walk through Sesimbra’s medieval streets, visits to a historic fortress, and a trek along the coast to see these ancient tracks. The highlight is the small group setting and the chance to see fossils in situ, making this ideal for families, geology enthusiasts, and history buffs alike. The guide’s passion for the area’s archaeological significance makes the experience more engaging, and the itinerary also includes visits to a chapel, aqueduct, and pilgrimage site. Many reviewers mention how stunning the views are and how the dinosaur footprints add an educational twist. This tour is perfect if you’re looking for a less conventional, nature-focused adventure that combines coastal scenery with prehistory.
Bottom Line: A top pick for geology lovers and those interested in a mix of culture and nature.
4. Hiking tour to the highest limestone cliff of continental Europe
This 7-hour tour takes you into Arrábida Natural Park for a challenging hike up to one of Europe’s highest limestone cliffs. The trail involves zigzag paths, rugged terrain, and a steep ascent to a mountain top at 1,250 feet (381 meters). The reward is spectacular panoramic views of the Atlantic Ocean and surrounding landscapes. The tour is ideal for fit hikers seeking a more demanding experience, with guides sharing insights about the local ecosystem and geology. Reviewers appreciate the stamina required but also mention the gorgeous scenery from the summit. The tour’s value is in the combination of physical challenge and scenic reward, making it popular among outdoor enthusiasts who want a true mountain adventure close to Lisbon. If you’re not afraid of a bit of sweat and uneven terrain, this hike offers a rewarding experience that few others in the region match.
Bottom Line: Best suited for active hikers craving a mountain summit with stunning views.
5. Lisbon: Hiking in Arrábida Natural Park
For those after a gentler, more relaxed hike in a beautiful setting, this 3- to 7-hour tour offers a walk through Arrábida Natural Park at a comfortable pace. The focus is on flora, fauna, and local history, with a light trail that’s accessible for most fitness levels. The guide provides insights into the native plants and the region’s cultural background, making it educational as well as scenic. Many reviewers highlight how relaxing and easy the hike is, with some saying it’s perfect for a family outing or a first-time hiker. The trip also includes stunning vistas of the mountains and ocean, with a smooth transportation arrangement from Lisbon. If you prefer a leisurely walk over a strenuous climb but still want to see the region’s natural beauty, this tour hits the spot.
Bottom Line: Ideal for those who want a peaceful hike with lots of scenery and cultural context.
6. Hiking Tour Along the West Coastline
This 7-hour coastal trek covers impressive ocean views and hidden beaches on Portugal’s western shore. Starting at Bicas Beach, the hike includes stops at natural pools, fossilized dinosaur footprints, and secluded beaches—perfect for those who like their scenery rugged and their beaches wild. The tour balances scenic walking with opportunities for swimming and relaxing. The guide emphasizes the region’s fossils and geological features, adding an educational layer to the adventure. Reviewers rave about the spectacular views, the hidden spots, and the experience of discovering fossil footprints along the coast. The walk involves rougher terrain and some uneven paths, making it suitable for hikers with a moderate fitness level. The tour’s value lies in the combination of coastal wilderness, fossil hunting, and beach time in one trip.
Bottom Line: Great for adventurous travelers who want to combine hiking with beach exploration.
7. Hike in Sintra: Pena Palace, Moorish Castle, Quinta da Regaleira
This 7-hour tour explores Sintra’s most iconic monuments through a mix of hiking and guided visits. Starting in Sintra’s historic center, you hike through the Moorish Castle, then continue on to Pena Palace and Quinta da Regaleira. The trail involves mountain walks and forest hikes, with a focus on covering multiple landmarks in one day. The guide’s passion for Sintra’s architecture and landscapes shines through, making the history come alive. Reviewers mention that the strenuous but rewarding walks reveal hidden viewpoints and lush scenery. The tour is ideal for those wanting a full immersion into Sintra’s natural and cultural treasures, especially if they’re comfortable with moderate to strenuous walking. The inclusion of several UNESCO sites makes it rich in history, while the hiking provides the physical challenge.
Bottom Line: Perfect for active travelers eager to see major sites on foot.
8. Hiking Tour to the highest point of Arrábida Mountain
This full-day adventure takes you to the summit of Arrábida Mountain, at Formosinho Peak, for spectacular 360° views. The hike covers difficult, unmarked trails, with a steep climb that challenges even experienced hikers. The itinerary includes learning about local plants and wildlife with a guide who shares detailed insights. Many reviewers note the challenging ascent, but also emphasize the breathtaking vistas and the sense of achievement reaching the top. This tour is best suited for fit hikers who enjoy mountain trekking and want a personalized experience with options to tailor the pace. It’s a good choice if you’re after a serious hike with a panoramic payoff.
Bottom Line: For serious hikers wanting a top-of-the-world moment with expert guidance.
9. Hiking Tour to the Paradise Beach
If a coastal walk to a remote beach sounds appealing, this 7-hour trip is for you. Starting from Arrábida Natural Park, the hike follows the coast to Paradise Beach, renowned for its crystal waters and quiet atmosphere. The guides show you endemic plants and share curiosities about the location. Once at the beach, there’s time to swim and relax before heading back. The route involves moderate walking over uneven terrain, making it suitable for most active travelers. Reviewers mention how beautiful the scenery is and how the seclusion of Paradise Beach makes the effort worthwhile. It’s a perfect option for those who want a seaside escape with some walking involved.
Bottom Line: An excellent choice for beach lovers seeking a scenic coastal trek.
10. Hiking Tour to Top of Arrábida Mountain
Rounding out the list is a 6 to 8-hour hike to the summit of Arrábida Mountain’s highest point, Formosinho. This route offers panoramic views of the Atlantic, Setúbal Peninsula, and Sado River. The trail involves a challenging ascent but rewards hikers with unmatched vistas and a close look at Mediterranean flora and fauna, including wildlife such as red foxes and birds of prey. The guide allows for customizing the pace or focusing on specific interests, which makes it flexible for different fitness levels. Many reviews highlight the breathtaking scenery and the sense of accomplishment at the summit. This tour is best suited for experienced hikers or those prepared for a full day of moderate to strenuous activity.
Bottom Line: Ideal for seasoned hikers seeking a panoramic payoff and wildlife encounters.
How to Choose Your Perfect Hiking and Trekking Tour in Lisbon
Picking the right tour depends on your fitness level, time constraints, and what you want to see. If you’re after a full-day adventure with a mix of cultural sites and coastal views, the From Lisbon: Sintra, Pena Palace & Cabo da Roca Hiking Tour is a solid choice. For small-group, personalized experiences, the Sintra, Pena Palace & Cabo da Roca Guided Tour offers intimacy with excellent guides. If you’re into geology or prehistoric sights, the Jurassic Footprints tour provides a unique blend of science and scenery. For those seeking a serious physical challenge, the highest cliffs or mountain summits will satisfy your craving for altitude and sweeping views.
Consider your budget, fitness, and whether you prefer guided or independent exploration. Tours like the coastal Hiking along the West Coastline and Hiking in Arrábida Natural Park are excellent choices for casual walkers, while the more demanding hikes suit experienced trekkers. Booking early is advisable, especially in peak seasons, to ensure availability.
Final Thoughts
Lisbon’s surroundings offer a rich variety of hiking experiences — from mountain peaks with sweeping vistas to coastal trails along secret beaches. For a balanced day of sightseeing and nature, the Sintra & Cabo da Roca tour is hard to beat, while adventurers will appreciate the challenging climbs like the highest point of Arrábida. If you love dinosaurs, the Espichel Cape fossil footprints provide a memorable twist. Whatever your fitness level or interests, Lisbon’s outdoor tours promise fresh air, stunning scenery, and a good dose of exercise.
To get the most out of your trip, plan ahead and book your preferred tour early. Each offers a chance to see Portugal in a different light—on foot, with panoramic views, and in the company of experts who love to share their knowledge. Happy hiking!
