In Sintra, you can get around by walking, by bus, or by taxi. If you're just in Sintra for 24 hours, walking will take up too much time. With that amount of time, it's best to take the train from Lisbon to Sintra, and then use Sintra's bus lines or taxis to get around.

You can absolutely do Sintra without a car in 2026, and in many ways, it is actually the preferred method due to strict new parking regulations. As of recent years, private vehicles are largely prohibited from driving near major sites like Pena Palace and the Moorish Castle. To visit, most travelers take a 40-minute train from Lisbon’s Rossio or Oriente stations to the Sintra station. From there, you can utilize the 434 Scotturb bus, which runs a loop between the station and the hilltop palaces, or the 435 bus for the lower-level sights like Quinta da Regaleira. For those who prefer more privacy, Tuk-Tuks and Ubers are widely available, though the specialized tourist buses are the only vehicles with guaranteed access to some restricted zones. While the hills are very steep, walking is possible for the physically fit, but the bus or a taxi is highly recommended to save your energy for the extensive walking required inside the palace grounds.