Crowning the highest peaks of the Serra de Sintra, the vibrant Palácio da Pena and the ancient Castelo dos Mouros are the town's most iconic landmarks. For most day-trippers, reaching these hilltop attractions means taking the 434 tourist bus, a service that is frequently overwhelmed by crowds, especially during the peak season. While taxis and tuk-tuks are available, they are an expensive alternative and offer little advantage on the congested roads

For the more adventurous visitor, there is a far more scenic option: hiking the Caminho de Santa Maria footpath. This trail leads directly from the historic centre of Sintra, winding up through the region's lush, dense forests to the entrances of the castle and palace

Be aware that this is a demanding uphill walk. The steep, 55-minute hike can be tiring, particularly in the heat of summer. However, the route rewards the effort with serene woodland scenery and beautiful viewpoints, offering a peaceful escape from the tourist crowds below

This guide will provide a detailed, step-by-step walkthrough of the Caminho de Santa Maria trail, showing you the best way to walk from Sintra's town centre to the Castelo dos Mouros and Palácio da Pena.
Insight: While this guide focuses on the uphill climb, following the route in reverse offers a wonderful way to return to Sintra's historic centre. The 30-minute downhill walk is a relaxing and scenic alternative to the crowded 434 bus, allowing you to end your day with a peaceful stroll through the forest. It is an ideal choice if you have some time to spare and are not rushing back to the train station.
Related articles: Sintra introduction - The Palácio da Pena

It's a long walk from the centre of Sintra up to the Palácio da Pena

The Caminho de Santa Maria is the recommended and most direct walking route to the Palácio da Pena and Castelo dos Mouros. The trail is well-maintained and consists of two distinct sections: an initial walk along footpaths beside town roads, followed by a scenic paved path that winds up through the beautiful Sintra forests. Be prepared for the forested section, as it involves many stone steps and steep inclines.

It is essential that you do not attempt to walk along the main road, the Estrada da Pena. This narrow, one-way road is significantly longer than the hiking trail and is often congested with a constant stream of tourist buses, taxis and tuk-tuks, making it unsafe for pedestrians.

Before starting, be sure to carry enough water for the climb. There are no shops or cafes along the entire route, and the only facilities at the top are located inside the paid areas of the attractions, accessible only after buying an entrance ticket.

The Estrada da Pena in front of the Pena Palace, the ancient road was never designed for the high levels of tourist traffic.

The interactive map below displays the Caminho de Santa Maria and the walking route from the historic centre of Sintra or the train station up to the Palácio da Pena (green). Also on the map is the Estrada da Pena (blue) and the Vila Sassetti route is marked (orange).

Key: 1) Castelo dos Mouros 2) Entrance to the Palácio da Pena 3) Palácio da Pena 4) The historic centre of Sintra 5) Train station
Insight: This article details the hiking route from the historic centre of Sintra up to the Castelo dos Mouros and Pena Palace which is the green line.

The trail to the Palácio da Pena and Castelo dos Mouros begins on the eastern side of Sintra's historic centre, at the base of the Rua Visconde de Monserrate.

Before you begin, note that the shops and cafes along this street are your last chance to purchase any water or snacks for the journey. This photo guide will now walk you through each stage of the Caminho de Santa Maria route.

The base of the Rua Visconde de Monserrate is a popular pick-up point for tuk-tuk tours

The Rua Visconde de Monserrate has a gentle incline and passes the Sintra Boutique Hotel and the rear of the Palácio Valenças, currently used by Câmara Municipal de Sintra (Sintra Council).

The Palácio Valenças

Towards the top of the Rua Visconde de Monserrate, the path widens and is lined with trees and benches.
Note: If at the end of this first hill you have found it quite tiring, it is best to stop now as it will only get more demanding.

If you are beginning the walk from the train station, there is a pleasant shortcut through the Parque da Liberdade, which cuts out the first section of the Rua Visconde de Monserrate.

The entrance to the Parque da Liberdade

Once in the park, head uphill to the southern exit, which opens out onto the Rua Visconde de Monserrate.

The upper exit of Parque da Liberdade as it joins the Rua Visconde de Monserrate

Both routes continue up the Rua Visconde de Monserrate - turn left if you've just exited from the Parque da Liberdade.
At the top of the Rua Visconde de Monserrate is a small set of steps on the right called the Escadinhas dos Clérigos.

And these steps go on…

At the top of the Escadinhas dos Clérigos, turn left onto the Calçada dos Clérigos.

The Calçada dos Clérigos passes the Igreja de Santa Maria church, one of the finest Gothic buildings in Sintra. As with many buildings in the Lisbon region, it was badly damaged by the 1755 earthquake and repaired in a Baroque style.

Just past the church, turn right onto the cobbled Rampa do Castelo, where the sign cheerily reminds you that it is still 1.4km uphill to the Palácio Nacional da Pena.

From this point in the hike, the route is shown by the red and yellow markings, but there is only a single path and it is quite clear where to go.

At the end of the Rampa do Castelo is the Igreja de São Miguel church.

Just past the church are some stone steps, marking the end of the road section and the beginning of the much more scenic Caminho de Santa Maria.

The path soon passes through an outer gateway building. When inside the building, look up to see the unique roof structure.

Insight: Here is the first of the many entrance fee signs for the Castelo dos Mouros. You do not need to pay here and only need to pay if you actually enter the castle. You can walk the entire Caminho de Santa Maria path without paying.

The route now is a series of cobbled paths that climb the side of the steep hill. At the first switchback is a convenient bench and a decent viewpoint.

The path now passes the huge boulders that line the hill. This is a very tranquil and peaceful section of the hike.

On the secondswitch back, you’ll find a clearing through the trees and a view over the suburbs of Mercês and Algueirão–Mem Martins.

The path now passes through the Segunda Cintura de Muralha (The Second Walls). During the Moorish era (9-11th centuries) this outer wall would have provided protection to the local population and farm animals when under attack.

The ancient Segunda Cintura de Muralha walls and a modern wooden gate

The path follows the inside of the Segunda Cintura de Muralha, passing huge outcrops of boulders.

The path splits on the next eastward section, with a downward path leading to the Casa do Guarda (the guard's house) and a series of steps leading to the castle. The Casa do Guarda is only a minor attraction and can be skipped if you are planning to visit the much better Moorish Castle.

The exterior walls of the Casa do Guarda, but there's no real point in making your hike longer just to visit it

After two more steep, uphill paths that include some steps, you will pass an abandoned tourist building and finally reach the Igreja de São Pedro de Canaferrim. This church was originally constructed in the 12th century and was the first church built within the Sintra region. Today it is the Moorish Castle Interpretation Centre and displays artefacts found within the castle complex.

The Igreja de São Pedro de Canaferrim

If you wish to visit the Castelo dos Mouros, follow the path past the Igreja de São Pedro de Canaferrim. If you would rather head directly to the Palácio da Pena, take the path to the left. At this stage, the majority of the demanding uphill walking has been completed.

Insight: By now, you may be needing the toilet. There are some in the paid section of the Moors castle, but there are some free ones (which are a good standard) on the road opposite the entrance to the castle, about 300m from the São Pedro church. To reach them, follow the path to the Pena Palace.

We highly recommend visiting the Castelo dos Mouros. It is a fascinating ancient castle and there are amazing views from the top of the castle's battlements (466m high). A typical visit lasts one hour, the entrance fee is €12 and the castle will always be much quieter than the overly busy Palácio da Pena.

The view from the Castelo dos Mouros' battlements over the Sintra region and out to the Atlantic Ocean

To continue on to the Palácio da Pena, take the path to the left of the Igreja de São Pedro de Canaferrim and follow the signs.

The path to the Pena Palace may be 630m, but it is mostly flat now

The path from the Castelo dos Mouros to the main road is flat, but is often packed with tourists in the summer.

The path joins the road at the Castelo dos Mouros ticket office. The toilets are on the opposite side on the road to the ticket office.

To continue the walk to the Pena Palace, turn left at the road. There are two different paths; one follows the road, but is always busy with traffic, while the second passes through the forest. However, this is a surprisingly rough footpath.

The signed footpath from the Castelo dos Mouros to the most visited tourist attraction in Portugal is surprisingly bad

If you take the road route, be wary of the large number of tourist vehicles, many of which need to speed to have enough momentum to get up the steep hill.

When you arrive at the Palácio da Pena, you'll be confronted with the chaos and queues of the ticket machines and drop-off point.

The Palácio da Pena is a magnificent palace and the most famous sight of Sintra. Due to its popularity, visits to the palace are via a timed ticket, which provides a 30-minute time window to enter the main building of the palace.

During the peak season, the most popular time slots are booked, and it is advisable to book tickets at least the day before. Tickets can be purchased from Getyourguide.com for €20 - click here.

There is a cheaper ticket (€10) that provides entrance to the gardens and forests that surround the Palácio da Pena, but not the actual palace. Surprisingly very little of the palace can be seen from the grounds, and the cheaper ‘Park Only’ ticket is not recommended if this is your first visit.

The entrance to the Pena Palace on a quiet October Monday; during the summer it will be much, much busier!

Insight: There is a secondary and much quieter entrance to the Pena Palace, the "Vale dos Lagos" gate. This entrance is 300m downhill from the Castelo dos Mouros ticket office along the main road. When exiting the Castelo dos Mouros, turn right instead of left.

There is always less of a queue at the Vale dos Lagos, but once inside it is a longer walk to the Palace

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