To the Edge of Europe: Discovering the Coast of Portugal

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~790 km, 11 days
Cabo da Roca
Your campervan journey through Portugal begins in Lisbon. After picking up your campervan, you’ll head to an iconic destination — Cabo da Roca, the westernmost point of continental Europe. As the Portuguese poet Luís de Camões wrote, this is the place “where the land ends and the sea begins.” The drive will take about an hour.

Upon arrival at Cabo da Roca, you’ll find yourself atop a rugged cliff overlooking the Atlantic Ocean. Here, you can feel the raw power of nature, admire the dramatic coastline, and take memorable photos near the stone monument displaying the geographic coordinates. We recommend allowing plenty of time for picking up the campervan and making the drive, so you can fully enjoy the atmosphere without rushing.

After visiting the cape, you’ll head to your overnight spot near Sintra.
Points of interest
This is not just a geographical point on the map, but a place with a special energy. A cliff about 140 meters high drops into the roaring waves of the Atlantic Ocean. This is the westernmost boundary of the Eurasian continent. At the cape, there is a stone monument with a cross engraved with the exact geographic coordinates (38°47′ N, 9°30′ W) and a famous quote by Luís de Camões. It's a popular destination for tourists from all over the world who want to stand at “the edge of the earth.”
Also located on the cape is an active lighthouse, built in 1772. It is one of the oldest lighthouses in Portugal and still serves its important function of guiding ships. Nearby, there is a tourist office (which used to issue certificates for visiting the westernmost point of Europe) and a souvenir shop.

The surrounding landscape is typical of this part of the coast: sparse vegetation adapted to strong winds, and cliffs constantly battered by the ocean. A walk along the cliffside trails offers a full appreciation of the views and scale of the place.
Sintra: Quinta da Regaleira and the National Palace
Today, you’ll head to Sintra — a UNESCO World Heritage site known for its palaces, castles, and gardens nestled among wooded hills. The day will be dedicated to exploring two iconic landmarks: the mysterious Quinta da Regaleira estate and the oldest palace in Sintra — the National Palace of Sintra.

We recommend leaving your campervan at Parking Quinta dos Lobos, located about a 20-minute walk from Sintra’s historic center. Keep in mind that the palace grounds are extensive, and some landmarks are located on hills. To make it easier to get around, you can use the local buses. You’ll first immerse yourself in the symbols and mysteries of Quinta da Regaleira, and then explore the centuries-old history of the National Palace.

In the evening, you’ll return to your campsite in the Sintra area.
Points of interest
This is not just a palace, but an entire complex conceived by its owner, Carvalho Monteiro, in the early 20th century as a philosophical park filled with symbols linked to Freemasonry, alchemy, and the Templars.
The estate’s main feature is its multi-level park with hidden passageways, grottoes, ponds, and fountains.
The most famous structure here is the Initiation Well, plunging 27 meters deep into the earth. The spiral staircase symbolizes the circles of paradise or Dante’s inferno.
A walk through the park becomes an exploration: you’ll find hidden tunnels leading to the “Unfinished Well,” a lake with a waterfall, or an exit near the base of the palace.
The palace itself is built in the Neo-Manueline style and is filled with symbolic decorative elements.
Also known as the Town Palace (Palácio da Vila), it is the best-preserved medieval royal palace in Portugal.
It was continuously inhabited from the early 15th to the late 19th century.
It is easily recognized by two large conical chimneys rising above the royal kitchen and having become a symbol of Sintra.
Inside the palace, you can see a mixture of architectural styles — Gothic, Manueline, and Mudéjar.
The main halls of the palace are the Swan Hall (Sala dos Cisnes) with a ceiling painted with swans, the Magpie Hall (Sala das Pegas), where, according to legend, King João I ordered forty magpies to be depicted in response to court gossip, and the Heraldry Hall (Sala dos Brasões), the ceiling of which is decorated with coats of arms of 72 of the most notable Portuguese families.
The palace is also known for its collection of azulejos — painted ceramic tiles.
Sintra: Pena Palace and the Moorish Castle
You will continue your exploration of Sintra, and today two attractions located high in the hills await you. You will visit the colorful National Palace of Pena and the ancient The Moorish Castle. These two sites offer completely different experiences: the fairy-tale romanticism of the palace and the austere history of the fortress walls.

Given their hilltop locations and narrow roads, we strongly recommend leaving your campervan in a parking lot below and using the local bus (route 434), which runs between the historic center, train station, Moorish Castle, and Pena Palace. This will help you avoid difficulties with parking and maneuvering on narrow mountain roads.

You can either first go up to the Moorish Castle and then visit the Pena Palace, or do it in reverse. In the evening, you will return to your campsite located in the Sintra area.
Points of interest
This is one of the most recognizable symbols of Portugal, as if straight out of a fairy tale. Built in the 19th century for King Ferdinand II, the palace is a vivid example of European Romanticism in architecture. It combines elements of Neo-Gothic, Neo-Manueline, Neo-Renaissance, and Moorish styles.
The colorful facades (red, yellow, purple), towers, terraces, and crenellated walls give the palace a unique look.
It is located on one of the highest points of Sintra, offering panoramic views of the surroundings — on a clear day, you can even see Lisbon and the Atlantic Ocean.
A large park with exotic plants, ponds, and a pavilion surrounds the palace.
A medieval fortress built by the Moors in the 8th–9th centuries on a hill next to Pena Palace. After the Reconquista, the castle lost its strategic importance, but its ruins were restored in the 19th century by order of Ferdinand II as part of Sintra’s romantic landscape.
Today, visitors can walk along the fortress walls, climb the towers, and enjoy views of the historic center of Sintra, the National Palace, Quinta da Regaleira, and of course, Pena Palace.
The castle offers a completely different atmosphere compared to Pena — here you can feel the breath of history and enjoy wide-open panoramas.
Inside the perimeter of the walls, remnants of an old church and medieval burial sites have been preserved.
Costa Vicentina Park (North)
Today you leave Sintra and head south, toward the Alentejo and Algarve coasts. Your route will take you through the Parque Natural do Sudoeste Alentejano e Costa Vicentina — a long stretch of protected coastline known for its wild beaches, rocky cliffs, and unique flora and fauna. This is one of the most beautiful and well-preserved coastal areas in Europe.

On this day, you'll focus on the northern part of the park. Along the way, we recommend stopping at Praia do Malhão — a wide sandy beach surrounded by dunes and low cliffs. Here you can walk along the shore, enjoy the ocean views, and have a small picnic.

Continuing south, you will arrive at your overnight spot in a campsite located near the town of Vila Nova de Milfontes.
Points of interest
This natural park stretches for more than 100 km along the western coast of Portugal, from Porto Covo in Alentejo to Burgau in the Algarve. It encompasses diverse landscapes: from sand dunes and wetlands to high cliffs and small forested areas. The park is an important habitat for many species of plants and animals, including rare birds such as white storks nesting on sea cliffs. The landscape is constantly changing under the influence of ocean winds and erosion, forming impressive rock formations and secluded coves.
One of the most famous beaches in the northern part of the Costa Vicentina park. This is a long and wide beach with fine golden sand, divided into several sections by rocky outcrops, especially noticeable at high tide. The beach is popular among nature lovers and surfers due to its relative seclusion and good waves. You can reach the beach via a dirt road off the main route. Behind the beach are sand dunes covered with characteristic coastal vegetation. The place is perfect for long walks and ocean watching.
Costa Vicentina Park: Almograve and Cape Sardão
The fifth day continues your exploration of the Costa Vicentina Natural Park Parque Natural do Sudoeste Alentejano e Costa Vicentina. Today you will visit two remarkable places along this coastline. First, you will head to Almograve Beach Praia do Almograve, where you can enjoy its diverse landscape — from sandy stretches to rocky outcrops.

Next, you will drive a bit further south to Cabo Sardão. This spot offers a different experience: high, steep cliffs, a scenic lighthouse, and the chance to witness a unique phenomenon — white storks nesting right on the sea cliffs (especially in spring and summer). Take a walk along the paths near the cape, enjoying panoramic views of the ocean.

After visiting these two locations, you will continue your journey to your overnight stop at a campsite near Odeceixe.
Points of interest
This beach is often referred to as the pearl of the Alentejo coast. It is divided by a rocky headland into two main parts. The northern part (Praia Grande de Almograve) features a wide strip of golden sand. The southern part (Praia Pequena de Almograve) is rockier. At low tide, natural pools form here. The beach is surrounded by sand dunes and dark layered rocks. Access to the beach is via wooden staircases. This spot is ideal for peaceful relaxation and coastal walks along the Rota Vicentina trails.
The westernmost point of the Alentejo coast, known for its lighthouse (Farol do Cabo Sardão), built in 1915. The cape is a high rocky cliff dropping steeply to the ocean. What makes this place unique is that white storks nest on the coastal cliffs here — the only such location in the world. You can observe them from equipped viewpoints along the trail. Cape Sardão offers stunning views of the ocean and rugged shoreline, especially at sunset. It's an excellent spot for nature and photography lovers.
Costa Vicentina Park: Arrifana and Amado
You continue your journey through the Parque Natural do Sudoeste Alentejano e Costa Vicentina, crossing the border between the Alentejo and Algarve regions. Today is dedicated to two famous beaches in the southern part of the park, especially popular among surfers and lovers of stunning coastal landscapes.

You’ll first visit Praia da Arrifana, located in a picturesque bay sheltered by high black cliffs. This spot attracts not only surfers with its consistent waves but also view-seekers thanks to a scenic viewpoint near the ruins of an old fortress. Then, you’ll head further south to Praia do Amado, known for its wide sandy strip and vibrant, multicolored cliffs. It’s considered one of the best surfing spots in Portugal and often hosts international competitions.

After exploring these beaches, you’ll spend the night at a campsite near Carrapateira.
Points of interest
This picturesque crescent-shaped beach is nestled in a bay surrounded by dark schist cliffs. The sandy strip stretches for about half a kilometer. Thanks to its location, the beach is well sheltered from northern winds. At the northern tip of the beach, on a high headland, lie the ruins of a small fortress, offering one of the best panoramic views over the beach and ocean. At the foot of the cliffs sits a small fishing village with a few cafés. The beach is very popular among surfers of all levels due to its consistent waves. The descent from the main road to the beach is quite steep.
One of the most famous and spacious beaches in the Algarve, located not far from the village of Carrapateira. The beach is renowned for its powerful waves that attract surfers from all over the world, and it frequently hosts national and international competitions. The wide sandy stretch is surrounded by low cliffs in reddish and ochre tones, creating a beautiful color contrast with the deep blue of the ocean. For visitor convenience and to protect the dunes, wooden walkways and viewing platforms have been installed. Several surf schools operate on the beach, and there is a café. Even if you're not into surfing, Amado Beach is worth visiting for its vast open spaces and scenic views.
The Edge of Europe: Cape São Vicente and Sagres
Today you’ll reach the southwesternmost point of continental Europe. The day begins with a visit to another spectacular beach along the Vicentine Coast — Praia da Cordoama, which at low tide connects with the neighboring Castelejo beach, forming a vast stretch of sand at the foot of dark cliffs.

Next, your journey continues to Cabo de São Vicente — the legendary “end of the world” of ancient times. Here you’ll feel the power of the Atlantic, see one of the brightest lighthouses in Europe, and enjoy stunning views from the high cliffs. Not far away lies the town of Sagres and its famous Sagres Fortress, linked to the Age of Discoveries and Prince Henry the Navigator.

After exploring these historic and natural landmarks, you’ll head to a campground in the Sagres area.
Points of interest
A long and wide sandy beach surrounded by high dark slate cliffs. During strong low tides, it merges with the neighboring Praia do Castelejo, forming a single sandy stretch several kilometers long. This makes it an ideal place for long walks along the water’s edge. The beach is popular among surfers due to its consistent waves. Panoramic views of the coast open up from the road leading to the beach.
The southwesternmost point of continental Europe, a place rich in history and mythology. The Romans called it Promontorium Sacrum (Sacred Promontory) and believed it was a magical place where the setting sun plunged into the ocean. The cape is named after Saint Vincent, whose remains, according to legend, were brought here and guarded by ravens. On top of the 75-meter-high cliffs stands a powerful lighthouse, built in 1846 on the ruins of a Franciscan monastery. Its light can be seen from nearly 60 km away, making it one of the most powerful in Europe. Cabo de São Vicente is a place to watch majestic sunsets and feel the vastness of the Atlantic Ocean.
A historic fortress located on the wide Ponta de Sagres headland. Although the existing fortifications date mostly from the 18th century (after being destroyed by the 1755 earthquake), this place is inseparably linked with Prince Henry the Navigator, who, according to legend, founded his navigation school here in the 15th century, initiating the Age of Discoveries. The fortress has only one wall on the southern side, as the other three sides are protected by steep cliffs. Inside the perimeter, you can see the 16th-century church of Nossa Senhora da Graça, old barracks, and a giant wind rose (rosa dos ventos) with a diameter of 43 meters, laid out in stones on the ground and discovered in the 20th century. A walk through the fortress offers panoramic views of the ocean and coastline, including Cape São Vicente.
Transfer to Albufeira and Exploring the City
Today you leave behind the wild western coast and Cape São Vicente, heading east along the southern coast of the Algarve. Your destination is Albufeira, one of the most popular resort towns in the region. The atmosphere here is noticeably different from the secluded beaches of the Costa Vicentina: Albufeira is known for its well-developed tourist infrastructure, numerous restaurants, bars, and lively nightlife.

After arriving and settling into the campsite, you'll have time for a first introduction to the city. We recommend taking a walk through the Old Town, which still preserves the charm of a former fishing village with its narrow cobblestone streets, whitewashed houses, and cozy squares. You can also relax on one of the central beaches, such as Praia dos Pescadores (Fishermen’s Beach) or Praia do Túnel (Tunnel Beach), both located right at the foot of the Old Town.

Overnight stay is planned at a campsite in the Albufeira area.
Points of interest
The heart of Albufeira, located on a hill overlooking the ocean. Despite tourism development, this part of the city has preserved its traditional character. It’s pleasant to stroll through the labyrinth of narrow streets, admiring the white houses with colorful doors and flower pots. The main square, Largo Eng. Duarte Pacheco, is surrounded by numerous cafés and restaurants. In the evening, the Old Town comes alive, filled with music and strolling crowds. Several viewpoints offer views of the beaches and the ocean.
One of the two main beaches located directly in front of Albufeira’s Old Town. It got its name (“Fishermen’s Beach”) because local fishing boats used to be based here. Today it’s a popular urban beach with golden sand, convenient access (including an escalator from the promenade), and all necessary infrastructure. You can rent sunbeds, engage in water sports, or simply relax by the sea.
Adjacent to Fishermen’s Beach, located further west. It owes its name to the tunnel carved into the rock leading directly to the beach from the center of the Old Town. This beach also offers a wide sandy strip and calm waters suitable for swimming. Together with Fishermen’s Beach, it forms a continuous stretch of beach area in Albufeira.
Benagil Caves and the Old Town of Faro
This morning is dedicated to one of the most famous natural attractions of the Algarve. You’ll depart from Marina de Albufeira on a boat tour to the famous Benagil Cave. These impressive sea grottos — especially the largest one with a hole in the ceiling and a beach inside — are mainly accessible by water. It is recommended to book the tour in advance and check departure times, as they may vary depending on the season and weather conditions.

After returning from the boat trip, you’ll head to Faro — the capital of the Algarve region. In the evening, take a walk through the Old Town (Cidade Velha), surrounded by ancient walls. Enter through the monumental Arco da Vila gate to find yourself in a quiet enclave of cobbled streets, whitewashed houses, and cozy squares. Stroll to the Largo da Sé cathedral square, where you’ll find the Cathedral of Santa Maria (Igreja de Santa Maria) and the Episcopal Palace of Faro (Paço Episcopal de Faro). Don’t miss the many stork nests perched on the rooftops of old buildings.
Points of interest
A series of sea grottoes carved by waves into the iconic Algarve cliffs. The most famous — Algar de Benagil — is a large cave with two entrances from the sea, a small inner beach, and a round opening in the ceiling (“eye”). You can only reach the caves by water — by boat, kayak, or SUP from nearby Benagil Beach (Praia de Benagil). Tours usually include other spots along the coast as well.
A modern marina for yachts and tour boats located just west of central Albufeira. Most boat trips depart from here, including tours to the Benagil caves, dolphin-watching tours, and other excursions. The marina is lined with bright apartment buildings, shops, and restaurants. There is a large parking lot for cars.
The historical center of Faro, located within medieval walls built by the Romans and later fortified by the Moors. This peaceful and atmospheric area contrasts with the more modern parts of the city. It's a great place for a stroll through narrow cobbled streets, admiring old architecture and soaking in the quiet charm.
A monumental neoclassical gate built in 1812 over medieval Arab walls from the 11th century, still visible inside the arch. It served as the main entrance into the Old Town from the harbor and Manuel Bivar Square. At the top of the arch stands a statue of St. Thomas Aquinas. Storks often nest here as well.
Located on the main square of the Old Town, Largo da Sé, on the site of a former mosque. The cathedral was consecrated in the 13th century but was heavily damaged in the 1755 earthquake and later rebuilt. It combines elements of Gothic, Renaissance, and Baroque styles. Inside, look for the wooden choir stalls, 17th-century tiled chapels, and bell tower, which offers panoramic views over the Old Town, harbor, and Ria Formosa nature park.
Located on the same square, Largo da Sé, opposite the cathedral. This 18th-century building served as the residence of the bishop of the Algarve. The palace has an elegant façade and a beautiful interior library (limited public access). Its architecture complements the historic charm of the main square.
Faro
Today you’ll have a full day to leisurely explore Faro and its surroundings. You can visit the Municipal Museum of Faro, located in a former monastery, or stop by the Museu Marítimo Almirante Ramalho Ortigão, dedicated to the maritime and fishing history of the region.

If you’re interested in ancient history, plan a trip to the Roman Ruins of Milreu, located just outside the city. Fans of palace architecture and gardens can visit the Garden of the Palace of Estoi, with its Rococo-style gardens. You could also spend part of the day exploring the unique Parque Natural da Ria Formosa, taking a boat tour through its lagoons and islands.

In the evening, you’ll return to a campsite near Faro for an overnight stay before tomorrow’s drive to Lisbon.
Points of interest
The main archaeological museum of Faro, located in a building of a former 16th-century monastery – Convento de Nossa Senhora da Assunção – in the Old Town. The exhibition features the history of the Algarve region with prehistoric finds to the Middle Ages. Among the most valuable exhibits are collections of Roman mosaics from Milreu, found in Faro, including a depiction of the sea god Oceanus. The museum also displays Islamic ceramics, medieval tombstones, and other artifacts. The monastery itself, with its Renaissance cloister, is also of interest.
Located in the building of the Faro Captaincy, next to the harbor. The museum is dedicated to the maritime history and traditions of the Algarve region, especially fishing. The exhibition includes model ships (including caravels of the Age of Discovery), navigation instruments, ancient maps, fishing tools and items, and models of sunken ships. The museum illustrates the close relationship of Faro and the entire region with the sea over the centuries.
Ruins of a wealthy Roman villa located about 10 km north of Faro, near the village of Estoi. The villa was inhabited from the 1st to the 4th century AD and later became a Christian cult complex. Remains of residential buildings, baths (thermae), and a temple, later transformed into a church, are well preserved. The highlight of the site is its mosaic floor with sea motifs and preserved columns. One of the most significant Roman-era monuments in the Algarve.
Located near the Milreu ruins, Estoi Palace is one of the best examples of Rococo architecture in the Algarve. Though the palace itself was built in the 19th century, it is now often part of the Pousadas de Portugal hotel chain (and access may be limited for non-guests). The gardens are usually open to the public. Designed in French style, the palace includes terraces, sculptural elements, fountains, and azulejo tiles. The garden also features a tea house and a beautiful additional garden in the lower section.
A vast system of lagoons, canals, islands, and salt marshes along the coast. A major spot for migratory birds. Here you can go on boat trips, observe birds, or visit the barrier islands.
Return to Lisbon
Your 11-day journey through Portugal comes to an end today. After breakfast in the Faro area, you'll begin your return trip to Lisbon. The drive along the toll highway A2 will take approximately 3 to 4 hours. Make sure to allow enough time for the journey so you can reach the motorhome drop-off point in Lisbon without rushing.
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