Technically, you can explore Sintra on foot, but it is a physically grueling endeavor that requires a high level of fitness and a very early start. The town center is walkable, but the primary attractions like the Pena Palace and the Moorish Castle are situated high up in the Sintra Mountains. The hike from the historic center to Pena Palace involves a steep, uphill climb of about 45 to 60 minutes on winding roads or forest paths. While the scenery is stunning, most visitors find that walking between all the major sites—such as Quinta da Regaleira, Monserrate, and the National Palace—takes up too much time, leaving little energy for the actual sightseeing. In 2026, the most balanced approach is to use the dedicated 434 or 435 tourist buses or a "tuk-tuk" to reach the highest peaks, then walk the downhill paths or explore the expansive gardens on foot. If you are determined to walk the entire circuit, expect to cover over 15 kilometers of vertical terrain, which is only recommended for serious hikers who have a full day to dedicate to the journey.