Tours/Lisbon/Private Lisbon Coastal Tour – Arrábida, Sesimbra and Beach Picnic
Viator · Private tour

Private Lisbon Coastal Tour – Arrábida, Sesimbra and Beach Picnic

4.9(52)Lisbon1 hour
VIATOR5.0(6)TRIPADVISOR4.9(46)

Description

Skip the hassle of planning and enjoy a full-day private coastal experience from Lisbon through Arrábida Natural Park and Sesimbra, combining breathtaking landscapes, cultural heritage and authentic local experiences off the beaten path. Travel along one of Portugal’s most scenic coastal roads, admire the crystal-clear waters of Praia de Galapinhos and Praia das Bicas, explore the historic fishing village of Sesimbra and its medieval castle, and enjoy panoramic views from the dramatic cliffs of Cabo Espichel. Visit the traditional Livramento Market in Setúbal, where you can select local products for your beach picnic, and discover hidden gems such as the Santa Margarida Cave, a unique seaside chapel carved into the rock.

Tour Options

Private Tour
  • Picnic Private Included Private vehicle Private Pick-up and Drop-off Pickup included

Itinerary

Pass by

Pick up

60 min

Arrábida Mountain on Portugal's Setúbal Peninsula is a stunning natural gem, boasting rugged cliffs, lush forests, and golden beaches lapped by azure waters. Its striking geological formations create an enchanting coastline, while secluded coves offer picturesque beaches like Praia da Figueirinha and Praia dos Galapinhos. Adventure seekers can enjoy hiking, rock climbing, and diving amidst breathtaking landscapes and marine life. With historical sites like the 16th-century Convento da Arrábida adding cultural richness, it's a must-visit for anyone seeking the perfect blend of natural beauty, tranquility, and adventure along Portugal's coast. You can have your picnic in one of Arrabida’s beaches. We will have an off road ride through the mountain, so you can get closer to the unique vegetation the mountain has to offer.

30 min

Portinho da Arrábida is a picturesque bay located in the Arrábida Natural Park on the coast of Portugal, near Setúbal. Known for its stunning natural beauty, the area features clear turquoise waters, white sandy beaches, and lush green hillsides. It is a popular spot for swimming, snorkeling, and hiking, offering visitors a tranquil escape amidst breathtaking scenery. The region also boasts a rich marine life and is part of a protected ecological zone.

Admission included30 min

One of the best markets in world, where you can choose some delights for your picnic. Closed on Mondays.

Admission included30 min

Lapa de Santa Margarida in Arrábida is a cave located in the Arrábida Natural Park near Setúbal, Portugal. It is known for its stunning limestone formations, including stalactites and stalagmites, as well as its underground lake. The cave offers visitors a unique opportunity to explore its geological wonders and learn about the region's natural history. It's a popular destination for adventurers and nature enthusiasts seeking to discover the beauty of the Arrábida coastline.

30 min

Sesimbra is a charming coastal town located in the Setúbal District of Portugal. Nestled between the Arrábida Natural Park and the Atlantic Ocean, Sesimbra is renowned for its beautiful beaches, clear waters, and picturesque landscapes. The town's rich history is reflected in its historic center, with its narrow streets, colorful buildings, and traditional Portuguese architecture. Sesimbra is also famous for its fresh seafood, vibrant fishing industry, and thriving tourism scene. Visitors flock to Sesimbra to enjoy its pristine beaches, indulge in delicious cuisine, explore its historic sites, and partake in various outdoor activities such as hiking, diving, and water sports.

Admission included40 min

We can explore Cabo Espichel or Sesimbra Castle. Cabo Espichel, or Espichel Cape, is a stunning promontory located on the western coast of Portugal, near the town of Sesimbra. This rugged headland is renowned for its dramatic cliffs that tower above the Atlantic Ocean, offering breathtaking panoramic views of the sea and surrounding coastline. Atop the cape sits the historic Santuário de Nossa Senhora do Cabo Espichel (Sanctuary of Our Lady of Cape Espichel), a pilgrimage site dating back centuries. Visitors can explore the sanctuary and its picturesque chapel, as well as enjoy hiking trails that meander along the cliffs, providing opportunities for nature enthusiasts to marvel at the rugged beauty of this coastal landscape. Cabo Espichel is a must-visit destination for those seeking natural splendor and cultural heritage along Portugal's coastline.

60 min

Praia das bicas is another beautiful and wild beach in Sesimbra. You can have your picnic here.

60 min

Admire the Praia do Meco we can enjoy our picnic here.

Pass by

You can decide to do your picnic on any of the beaches on the itinerary. We will pass by all of they so you can enjoy the views

Pass by

We can also visit Praia da Lagoa de Albufeira and observe the birds and the nature around it. You can have your picnic here.

Admission included60 min

Experience paradise on Earth at Praia de Galapinhos in Arrábida. Nestled along the stunning coastline of Portugal, this hidden gem boasts crystal-clear turquoise waters, golden sands, and dramatic cliffs, offering a picture-perfect setting for relaxation and exploration. Discover secluded coves, soak up the sun, and immerse yourself in the pristine natural beauty of one of Europe's most breathtaking beaches.

Admission included30 min

Sesimbra Castle, perched atop a hill overlooking the charming coastal town of Sesimbra in Portugal, is a historic fortress dating back to the Moorish period. This medieval stronghold offers panoramic views of the Atlantic Ocean and the surrounding landscape, making it a popular destination for visitors seeking both cultural enrichment and scenic beauty. The castle's stone walls and towers stand as a testament to its rich heritage, providing a glimpse into Portugal's storied past. Inside, visitors can explore the castle's interior spaces and enjoy exhibits detailing its history. Whether admiring the architecture, soaking in the vistas, or delving into the castle's fascinating past, Sesimbra Castle offers a memorable experience for tourists and history enthusiasts alike.

Pass by

Cristo Rei, or Christ the King, is a towering statue of Jesus Christ located in Almada, Portugal, overlooking the city of Lisbon across the Tagus River. Inspired by the Christ the Redeemer statue in Rio de Janeiro, Brazil, Cristo Rei stands at around 110 meters tall, including its pedestal. The monument was inaugurated in 1959 and has since become an iconic symbol of faith and devotion in Portugal. Visitors can ascend to the viewing platform for panoramic views of Lisbon and the surrounding area, and the site also serves as a popular pilgrimage destination for Catholics.

Pass by

The 25th of April Bridge, also known as Ponte 25 de Abril in Portuguese, is a suspension bridge spanning the Tagus River in Lisbon, Portugal. Completed in 1966, the bridge was originally named the Salazar Bridge but was later renamed to commemorate the Carnation Revolution of April 25, 1974. With a total length of over 2.2 kilometers, it connects the city of Lisbon to the municipality of Almada. The bridge is a prominent landmark in Lisbon's skyline and an essential transportation artery, carrying both road and rail traffic between the two banks of the river. Its striking red color and elegant design make it an iconic symbol of the city.

Highlights

Local certified tour guide
Private transportation
Private pick-up and drop-off in Lisbon, Setúbal, Almada and Sesimbra
Bottled water
All Fees and Taxes
Air-conditioned vehicle
Private Picnic with local cheeses, bread, smoked meats, pastries, fruit, wine, juice and water

What's included

Included
Local certified tour guide
Private transportation
Private pick-up and drop-off in Lisbon, Setúbal, Almada and Sesimbra
Bottled water
All Fees and Taxes
Air-conditioned vehicle
Private Picnic with local cheeses, bread, smoked meats, pastries, fruit, wine, juice and water

Pickup Locations & Times

Private Tour. Private pick-up and drop-off from and to Lisbon, Setúbal, Almada and Sesimbra.

Traveller Ratings

4.9
52 reviews
5
51
4
0
3
0
2
0
1
1

Important Information

  • Service animals allowed
  • Public transportation options are available nearby
  • Suitable for all physical fitness levels

Reviews(52)

R
rebeccasR7590XG
June 29, 2026
Love Sesimbra!

Sesimbra is now one of my favorite places in the world! It's so beautiful! Our guide Tiago made our trip so enjoyable. We visited the beaches and had a beautiful oceanside lunch. Tiago joined us, made great food recommendations and even taught my adult son to clean the sardines he ordered! I highly recommend!

L
lesliedU7064TL
June 12, 2026
Book this tour!

Highlight of our trip to Lisbon! This tour was fantastic- we saw lots of beaches with amazingly stunning views! Our tour guide, Nidia, was excellent! She was very knowledgeable about the area and extremely flexible. She let us explore and take our time, and really enjoy the sights. If you want to see more than just the city of Lisbon, thia tour is a MUST. You wont regret it!

1 people found this helpful
Operator response

Thank you so much for your wonderful review! I am so happy to hear that our Private Lisbon Coastal Tour to Arrábida, Sesimbra and the beaches was a highlight of your trip to Lisbon. It means a lot to know that you enjoyed discovering more than just the city, with stunning coastal views, beautiful beaches, and the natural scenery of this special region of Portugal. It was truly a pleasure to guide you through Arrábida and Sesimbra and to share some of my favourite places along the Portuguese coast. I am especially glad that you felt the day was flexible, relaxed, and adapted to your pace, as that is exactly the kind of private experience I love to create. My goal is always to make each tour feel personal, authentic, and memorable, combining local knowledge, beautiful landscapes, hidden places, and genuine Portuguese hospitality. Thank you again for recommending our Arrábida and Sesimbra private tour from Lisbon. It was a pleasure to welcome you, and I hope to see you again in Portugal for another unforgettable experience. Warm regards, Nídia Yes Experiences Portugal

M
Moumita c
May 16, 2026
FRAUD AGENCY

They are q FRAUD.... They cancelled the booking via Viator and then took money privately. Didnt shpw up. DONT BOOK WITH THEM..... THEY ARE FRAUD

E
Expedition543682
March 25, 2026
Fabulous Guide - Enjoyable Tour Experience

Diogos our tour guide/driver was fantastic! He was very knowledgeable of wine and made sure our tours of the wineries added to our interest and past experiences with wine production and types of grapes. He took us on beautiful drives through the mountains, stopping to take lovely pictures. We enjoyed the Market place. The oysters were a real treat for Gary. I would highly recommend this trip for anyone that wants to experience Portugal. I hope we can plan another trip with Diogos soon!

1 people found this helpful
Operator response

Resposta sugerida: Thank you so much for your kind words! We’re very happy to hear you enjoyed your day with Diogo. He truly loves sharing his knowledge about wine and the Arrábida region, and it’s great to know the experience matched your interests. It was a pleasure having you with us and showing you some of our favorite local spots. We would love to welcome you back anytime for another Portuguese adventure! Warm regards, Yes Experiences Portugal

M
monailc
May 11, 2025
A Person Touch

Nidia was the best tour guide! She made sure we were comfortable in her vehicle, provided water and candy. She showed us areas uncommon to tourist and took us to a restaurant where we had an amazing meal! I would definitely recommend her if you want a laid back experience.

3 people found this helpful
Operator response

Thank you so much for your kind words! We’re so happy to hear that you had a great time! We are truly passionate about creating relaxed, authentic experiences for our guests. It’s wonderful to know you enjoyed the hidden gems, the local meal, and her thoughtful touches along the way. We really appreciate your recommendation and hope to welcome you back for another unforgettable adventure soon! Warm regards, YesExperience Portugal

S
stevehC7624FR
November 22, 2024
Aruba ‘The caves & Baby Beach tour by de Palm local tours.

Took the caves & baby beach jeep tour in Aruba.used de Palm agency & Rafele was our guide. He is an Aruba native w/ tons of personality & local experience. He made the four hour trip interesting & humorous ! Great experience !

2 people found this helpful
5
556paulink
August 26, 2024
Perfect Jeep Tour for couples!

We had a fantastic private Jeep tour through the beautiful landscape near Lisbon. The views were breathtaking, and Ricardo shared so many interesting cultural insights with us. We had wonderful stops along the way, offering a perfect mix of culture, nature, and the chance to enjoy some quality time together. One of the highlights was a great picnic at a stunning, secluded beach that’s virtually unknown to tourists. We would absolutely book this tour again!

1 people found this helpful
Operator response

Thank you so much for sharing your experience! We’re thrilled to hear that your private Jeep tour with Ricardo was fantastic and that the breathtaking views and cultural insights made it truly special. It sounds like the mix of culture, nature, and quality time together created unforgettable memories, and we’re so happy the picnic at the secluded beach was a highlight for you. Your kind words mean a lot, and we’d be delighted to welcome you back for another adventure in the future. Thank you for choosing our tour! Kindest regards, YesExperiences Portugal

V
Vin-Cent-Elle
August 25, 2024
Ricardo is a phenomenal guide ⭐️⭐️⭐️⭐️⭐️

Ricardo was a phenomenal guide. He made the entire day extremely lovely and easy. We were able to have time to ourselves at a nearly empty beach with tall cliffs overlooking, a visit to a local tile artist, a wine tasting at a local vineyard. He made our day out of Lisbon truly a highlight of our trip. I will be recommending Ricardo and his tour to everyone I know visiting Lisbon. Thank you for an amazing day. We will never forget it!

1 people found this helpful
Operator response

Thank you so much for your heartfelt review! We’re delighted to hear that Ricardo made your day out of Lisbon such a special and unforgettable experience. The combination of a serene beach visit, discovering local tile art, and tasting wines at a vineyard sounds like a perfect day, and we’re so glad it became a highlight of your trip. Ricardo will be thrilled to hear how much you enjoyed his guidance and the memorable moments he helped create. Thank you for recommending him and our tour to others — that means the world to us! Wishing you many more incredible travels, and we hope to welcome you back someday. Kindest regards, YesExperiences Portugal

A
andreavE247AA
July 5, 2024
Amazing experience with the jeeptour!

We had an amazing day with Nidia! We visited beautiful places and saw the nicest views. We felt very comfortable and had a lot of free time. Nidia took us to beautiful places where there was an oasis of peace. Wonderful if you want to get away from the hustle and bustle of the city. A truly day full of relaxation, sightseeing and a well-organized picnic. Highly recommended and worth your money!

1 people found this helpful
Operator response

Thank you so much for your kind review! We’re thrilled to hear that you had such an amazing and relaxing day with Nidia, exploring beautiful and peaceful places. It’s great to know that you enjoyed the sightseeing, the well-organized picnic, and the break from the hustle and bustle of the city. We appreciate your recommendation and are happy the experience was worth it for you. We hope to see you again on another adventure! Kindest regards, YesExperiences Portugal

C
C5441CBchristinaw
July 4, 2024
Unique experience

First of all: I strongly recommend this tour. Especially if you want to have a unique experience in Portugal with a local by your side that shows you the hidden diamonds and the heartly welcome of the portugese people! :) We had the best time with our guide Nidia. She is not only a great driver (on- and offroad) and a very experienced tourguide with great knowledge about anything you might want to know about Portugal, she was also so friendly and showed us more than we had hoped for. On the tour, we were not only able to explore the beautiful landscape, but also experience the warmth of the Portuguese people. In short: •⁠ ⁠We have seen beautiful places and great beaches (away from tourists). •⁠ ⁠We have learned some interesting facts. •⁠ ⁠We had a very very good picknick (in veggie because we do not eat meat) with very good wine. •⁠ ⁠We loved the Jeep. •⁠ ⁠We felt safe and taken care of at all times. •⁠ ⁠We had an inidividual route that was perfect for us and we saw places we would not have seen without this tour. Thank you for this great adventure. :) The tour is worth every penny! We will definitely come back!

1 people found this helpful
Operator response

Thank you so much for your heartfelt and detailed review! We’re thrilled to hear that you had such a memorable experience with Nidia as your guide. It’s fantastic that she not only shared her extensive knowledge and friendly spirit but also went above and beyond to show you the hidden gems of Portugal. We’re glad you enjoyed the beautiful landscapes, the off-the-beaten-path beaches, and the personalized route that suited your preferences perfectly. It’s also great to hear that the picnic and wine were highlights! Your kind words about feeling safe and well taken care of mean a lot to us. We’re delighted the Jeep tour added to the adventure, and we can’t wait to welcome you back for more amazing experiences in the future. Thank you again for recommending the tour – we’re so happy it exceeded your expectations! Kindest regards, YesExperiences Portugal

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