Sintra is a hilly town and since some palaces and castles are located a bit far away from each other, it's not always possible to walk everywhere. For bigger distances, you can use local buses, tuk-tuks, and taxis.

While the town center of Sintra is walkable, you cannot easily walk "everywhere" due to the extreme elevation changes and distances between major sites. The walk from the train station to the historic center is a flat, scenic 15-minute stroll. However, reaching the most famous landmarks—Pena Palace and the Moorish Castle—requires a grueling, 45-minute uphill hike on steep, winding roads or forest trails that can be slippery and exhausting, especially in the summer heat. Most visitors find it far more practical to use the 434 Tourist Bus, a tuk-tuk, or a rideshare to reach the high-altitude peaks and then walk within the palace grounds. Quinta da Regaleira is closer to the center and manageable on foot, but attempting to see all the major sights in one day strictly by walking is a recipe for physical exhaustion and is generally discouraged for anyone not specifically looking for a strenuous hiking workout.