The Ultimate Lisbon to Algarve Road Trip: 13 Best Stops Along the Way!

If golden sand beaches with white houses painted with pops of color propped off on cliffsides is your jam… the Algarve is truly a dream come true for you. 

Tucked away in the southernmost nook of Portugal, the secret of the Algarve has long-since been spilled… but that doesn’t make an Algarve road trip any less classic, especially in the summer when this Mediterranean region shines its brightest. 

The region draws thousands of visitors each summer, especially from Northern European countries, and for good reason! I’d want to escape those dreary summers, too.

It’s got a bit of everything — dramatic coastline, wonderful sandy beaches, unique rock formations (including ones you can kayak through!) and charming seaside towns in a rainbow of colors — and it’s sure to delight virtually any beach-loving visitor.

This guide is borne of my experience living in Lisbon, where I had the opportunity to visit the Algarve twice, in two distinct seasons, getting to explore both its beautiful historic towns and its spectacular beaches (and its admittedly rather frigid waters — which may just be the only thing to dislike about it!)

And since I always got to the Algarve by car since I love to road trip, I also had the lovely opportunity to explore the oft-forgotten Alentejo region nestled right in between Lisbon and the Algarve.

This region is jam-packed full of hidden gems, which are well worth a quick detour on your way to the Algarve’s sunny shores…. so long as you know where to look, which is where I’m here to help!

So stick with me — this Lisbon to Algarve itinerary will guide you through the highlights between Portugal’s capital and the popular Algarve, including my favorite gems in Alentejo that the other blogs won’t tell you about!

Table of Contents

Toggle

My Top 3 Algarve Experiences

#1 TOP PICK

⭐️⭐️⭐️⭐️⭐️
Benagil Caves Tour from Portimão
✔️ See the epic Benagil Caves by speedboat
✔️ Sunset option for added magic

↳ Book it

#2 PICK

Dolphin Watching Tour from Lagos
✔️ Ethical tour led by a marine biologist
✔️ 1.5 hour Atlantic Ocean dolphin safari

↳ Book it

#3 PICK

Ponta da Piedade Boat Cruise from Lagos
✔️ Small group cruise between arches and cliffs of Ponta da Piedade
✔️ Find the prettiest hidden coves

↳ Book it

Driving from Lisbon to the Algarve

Quickly, let’s get into the best news: taking a road trip from Lisbon to the Algarve couldn’t be easier (once you get out of Lisbon, at least). The roads are excellent, and Google Maps is a trusty companion. But there are a few quick caveats I want to make you aware of as an international traveler to Portugal.

First up — you need to be sure you meet all the requirements (documents, etc.) so that you can legally drive in Portugal. Luckily for US citizens, there’s no need for an IDP for Portugal, but citizens from other countries may need one… so be sure to look up your individual country where you have your driver’s license registered in to confirm.

Another Portugal-specific quirk is the abundance of toll roads. While most toll booths will take cards, some may be a bit antiquated and only take cash… so have a bit on hand just to be safe, especially if you have a card issue for any reason.

Another possible solution is asking for a Via Verde transponder when you rent your car. This system allows you to pass through toll booths without paying anything at the booth, since the tolls are auto-collected from an attached credit or debit card.

Your rental car agency will be able to tell you more details about this, as it varies from agency to agency. But where to rent from? I’ll go into that in just a second!

Renting a Car in Portugal

Tip: I have a full guide to renting a car in Portugal here — but here’s the the quick tips in case you don’t want to read that full article

When looking for a rental car — in Portugal, Europe, or virtually anywhere on the planet — I always use Discover Cars to search for the best deal… for multiple reasons.

Another tip? I also always search from the airport as my pick-up destination, because the prices are usually the best here… inside the city center, it can be a lot pricier. It’s also best to plan to return to your original pick-up point via car to avoid hefty one-way fees!

Tip: Make sure you book your car rental with full coverage insurance for peace of mind — it starts at only $7 per day, cheaper than you’d get at a rental agency!

Day 1: Lisbon to Évora

Drive from Lisbon to Costa da Caparica

Start your Lisbon to Algarve road trip off on the right foot with a quick drive from Lisbon across the river to Costa da Caparica: a cozy coastal town well worth the stop even so early into your journey.

The long sandy beach continues south for roughly 30 kilometers until it reaches the estuary of Albufeira Lake.

This is a great place to have breakfast, spend some time strolling along the beach to stretch your legs, then get ready to drive south to your next destination.

Drive to Cabo Espichel.

From Costa da Caparica, I suggest you make the next spot in your GPS “Cabo Espichel“. This is a stunning headlands area, which gives you a wild and windswept overlook of the Atlantic, accompanied by a lighthouse and church. 

From the observation point (miradouro in Portuguese), you’ll admire the coastline but especially the fantastic beach, Praia dos Lagosteiros.

If you want to stretch your legs, this is a good spot to spend some time walking around the lighthouse and visiting the Santuario de Nossa Senhora do Cabo Espichel. Just be sure to bring an extra layer, as it can get very windy!

Explore Sesimbra.

From Cabo Espichel, you don’t have to drive long to reach the next spot on our Lisbon to Algarve route: the charming seaside town of Sesimbra, which lays within the confines of the Arrábida Natural Park, a protected coastal region.

If you have the time, you could check out some of its best beaches here: I recommend Praia do Ribeiro do Cavalo, Praia de Galapinhos, and Praia da Figueirinha. 

These beaches are popular among locals, but because access is not so easy, they never get that busy… but it does mean that those select few who are up to the challenge can enjoy the beaches without any crowds!

While in Sesimbra, be sure to see its sights: most importantly, check out the views from the Forte de Santiago de Sesimbra, and if you have time, I also suggest visiting the hilltop Sesimbra Castle. Best of all? Both sites are free to access!

I’d also recommend having lunch here, as it’s one of the best options. I highly suggest all the Portuguese specialties at Casa Mateus!

But if you don’t eat meat or fish — two pillars of the Portuguese diet — you may want to stop at Aloha Café, which serves tasty vegetarian dishes and has a lovely terrace overlooking the sea.

Stop by Setúbal

From Sesimbra, make your way along the coast to Setúbal. Along the way, as if the views from the road weren’t enough, you can stop by the picturesque little bay of Portinho da Arrábida. 

If you didn’t eat back in Sesimbra, or just want to have a bite in a quaint place with gorgeous sea views, stop by O Farol.

Keep on driving for roughly half an hour until you reach Setúbal. The city is quite big, but you can explore the historical center in around an hour. 

First, stop by Forte de São Filipe, a 16th-century castle overlooking the city, and check out the beautiful chapel covered in the traditional Portuguese azulejos. The entry is free, and the lovely on-site café is perfect for a coffee with a view.

In Setúbal, stroll through the port, check out the colorful dolphin sculptures, and visit Our Lady of Grace Cathedral.

If you have extra time, check out Praça do Bocage with its lovely Church São Julião.

Drive from Setubal to Évora

From Setubal to Évora, driving takes roughly an hour.

You’ll likely get to Évora in the afternoon, giving you a bit of time to explore the city before dinner.

Évora is best known for its well-preserved ancient Roman temple, also known as the Temple of Diana.

The beautiful temple is within Évora’s historical center, which became a UNESCO World Heritage Site in 1986.

Next up, drive for about an hour to reach Évora, famous for its well-preserved Roman Temple, also known as the Temple of Diana. It’s nestled right in the historic center, a UNESCO World Heritage site since 1986.

After you’ve had your fill of ancient history, wander around the city center for a bit more modernity. By this point in the itinerary, it’s probably a bit late for any sightseeing, but that’s why I have to staying the night here — you’ll have the next morning for that, too.

What you can do this evening, though, is make sure to swing by the lovely Praça do Giraldo with its iconic fountain, and walk by (though perhaps not into, if it’s already closed) the Santo Antão Church. And don’t forget to take a relaxing stroll through the Jardim Público de Évora park, charming any time of day!

Grab a delicious Alentejan dinner in Évora.

After that, go ahead and check into your accommodation for the night and head out for dinner. Lucky for you, Évora is a great place to try Alentejo’s cuisine!

Check out TascaTosca & Wine Restaurant or the lovely outdoor terrace at Páteo. 

Migas de porco preto (black Iberian pork) and favada real de caça (bean stew with meat) are among the most traditional dishes of the region, and they’re both delicious.

For the vegetarian traveler, Açorda à Alentejana is a great option.

Day 2: Évora to Sagres

Visit Évora’s landmarks

After a good night’s sleep, it’s time to spend the morning of your second day visiting Évora’s key landmarks, starting with my personal favorite: Cathedral of Évora, a stunning cathedral that took centuries to finish, literally starting in 1280 and not finishing until 1746.

What I like about buildings with such a long construction time is that often, as a result, you’ll find an eclectic blend of architectural influences that reflect its many centuries of renovations, tweaks, and additions.

For just €4.50, you get full access to the cathedral, the museum, the cloisters, and the rooftop, which offers sweeping city views — not a bad deal at all — though if you want to save money and just see the museum and cloisters, you can drop only €2.

Next, head to the Church of St. Francis, better known for housing the Chapel of the Bones… and yes, it is as spooky as it sounds. 

Truly a macabre sight to behold, the interior of the small chapel is covered with human bones belonging to five thousand skeletons!

These skeletons were exhumed by the Franciscan monks during the medieval times to free up the land taken up by cemeteries.

After that grim bit of local history, you can visit the beautiful Gothic church and the monastery on the same site.

All these sites are included in a mere 6€ entry fee which also includes access to the terrace and the museum. 

Although the bone chapel is the main attraction, don’t miss the other areas of the church!

Drive from Évora to Sines

After visiting Évora’s key landmarks, it’s time to keep driving south toward the Algarve. Your first stop along the way is Sines, a city on the coast of Alentejo, around 1.5 hours from Évora.

The city is home to long sandy beaches and a charming historical center, as well as several attractions worth stopping by and giving yourself a break on this drive from Lisbon to Algarve.

You can visit the castle of Sines for free and admire the lovely sea view from its terraces. Within the castle, you can also check out the collection of the Sines Museum.

Sines is better known as the birthplace of Portuguese explorer Vasco Da Gama, whose statue stands looking out to the sea next to the Castle of Sines. 

The main beach by the city center is also dedicated to Vasco da Gama. Go for a stroll, or lie out in the sun for an hour or two if the weather is nice.

Spend any extra time exploring the historical center of Sines and stop for lunch. For a delicious meal, you’ve got a couple great options – you can have an authentic meal at the family-run little restaurant Adega de Sines or try the vegetarian dishes at Veg&tal. 

If you have extra time after lunch, drive to the lighthouse, Farol de Sines, and check out the coastal view.

Stop in Azenha do Mar and Bordeira.

From Sines, start driving south toward Sagres.

Along the way, you’ll drive through a natural park that’s home to some of the most beautiful beaches in Portugal — so if you want to take a pause to stop and stretch your legs on a coastal walk, now’s the time.

Personally? I recommend you stop by Azenha do Mar. Here, you can admire the dramatic coastline and rock formations, and there’s also a coastal path.

Just south of Azenha do Mar, you can also stop by the stunning Praia de Odeceixe, a whisper-thin sliver of sand at the mouth of the Ribeira de Seixe river.

Better yet? It comes with a view of (hunky) surfers. You can also stop for a (nonalcoholic, if you’re driving) drink at Bar da Praia or head down to the beach for a walk or a swim.

Further south, you can also stop by Bordeira and admire the coastal view from the observation deck (miradouro) called Pontal da Carrapateira.  You can also find a beautiful walkway along the cliffs, with views overlooking nearby Praia da Bordeira.

From Bordeira, you’ll only need to drive for about 20 minutes to Sagres, your rest stop for the second night.

Have dinner and spend the night in Sagres

Sagres is at the far southeastern point of continental Europe. The coast is marked by two important points, Cape St. Vincent to the east and Sagres Point to the south.

Spend any time you have left in the evening exploring the small town of Sagres and have dinner at one of the many great restaurants in town.

The local specialties are fish and seafood dishes, so be sure to try them at A Sereia or Adega dos Arcos.

Now get some rest, because we have a busy final day of our Lisbon to Algarve road trip tomorrow!

Day 3: Sagres to Faro

Explore some more of Sagres by daylight.

Begin the last day of your road trip by exploring the two main miradouros in Sagres that offer sweeping sea views: Cape St. Vincent and Sagres Point. 

At the former, you can check out the lighthouse and the Fort of Santo António de Belixe, which exudes history in every well-worn tile and brick.

At the latter, you can walk to the Cape Sagres viewpoint, where there’s a lighthouse, as well as the small but scenic Igreja de Nossa Senhora da Graça.

If you want to visit the Sagres Fortress, it’s well worth it, just be aware that it has a €3.50 entry fee for adults (cash). Close to the fortress, you can also check out the massive and impressive Compass Rose. 

In the nearby maze-like structure, A Voz do Mar (The Voice of the Sea), you can listen to the crashing sound of the waves roaring in through an opening in the cliff — I love art installations like this; it reminds me of the Wave Organ in San Francisco.

Drive from Sagres to Lagos.

Driving east from Sagres, the first town you’ll reach is Lagos. This is a popular end point for some Algarve routes, like a Lisbon to Lagos road trip, though we’ll end this particular road trip in Faro, further east.

The charming city of Lagos is best known for its stunning scenic spot, Ponta da Piedade. Its name, literally ‘piety point’, will make sense when you see how a view this beautiful would inspire even the most secular among us (raises hand) to murmur in wonder!

Head over to Miradouro da Ponta da Piedade to admire the impressive cliffs and rock formations emerging from the crystalline waters. 

The spot is also popular for boat tours through the grottoes, caves, and rock formations around Ponta da Piedade.

The boat tour costs about €20 per person (book online to reserve your spot!), but it’s well worth it — it’s such a memorable way to explore the stunning coastline!

Closeby, you’ll also find two of the most popular beaches in Lagos, each which deserves its own stop if you have the time on your itinerary: Praia do Camilo and Praia de Dona Ana.

Be warned that they tend to be extremely crowded during peak summer months, but even if you decide not to brave the throngs of beach-goers (or just don’t feel like descending hundreds of steps to the beach), I’d definitely still urge you to make a stop there; it’s still worth checking them out from above.

After exploring the coast and admiring the spectacular views, head to Old Town Lagos. While you’re there, be sure to visit Igreja de Santa Maria de Lagos and walk around the seaside Castle of Lagos, which has some incredibly beautiful views and photo spots.

Don’t linger too long though — get ready to move onto our next (and almost final) stop on this Lisbon to Algarve drive, where we’ll have a delicious lunch.

Stop for lunch in Portimão.

Traveling from Lagos to Portimão takes around 30 minutes — getting you there in time to grab lunch in the area behind the beach Praia da Rocha. I suggest you try Portuguese tapas (aka petiscos) at Tapas ò Destapas or have the fresh seafood from Branquinho.

For beaches, I’d suggest starting at Praia da Rocha and then walking along the beach until you reach another section called Praia dos Três Castelos.

After reaching this part of the beach, you can go up the stairs to the scenic viewpoint Miradouro dos Três Castelos in order to see the beach from a different perspective.

Before getting back on the road, be sure to stop by Igreja de Nossa Senhora da Conceição, best known for its beautiful Baroque gilded altar.

You can also take a 1.5-hour speedboat ride to the Benagil Caves from Portimão, take a 2.5-hour kayak tour of the caves, or wait to see them from Albufeira.

Drive to Carvoeiro.

For your next stop along the beautiful coast of the Algarve, check out the small town of Carvoeiro, where you can stroll along the coast to reach Algar Seco, where you can discover hidden caves and spectacular viewpoints over the sea.

Carvoeiro has a small but charming historic center and a beautiful sandy beach enclosed within the cliffs.

The nearby Miradouro da Senhora da Encarnação offers lovely coastal views of the beach and the white houses on top of the cliffs.

Stop by Albufeira.

The last stop you’ll make on this Algarve road trip before reaching Faro — the capital of the Algarve — is Albufeira, a fishing village turned mega-popular vacation spot.

While I prefer Faro’s vibe overall, Albufeira also makes a good coastal base, with access to a lot of great activities like this Caves & Dolphin Watching Boat Tour and this Benagil Caves Tour by Kayak or SUP.

The problem is that Albufeira comes with one major flaw: it can be extremely crowded during summer. That said, if you don’t mind navigating the crowds, it’s a convenient halfway point along the Algarve coast.

There’s a lot to see in Albufeira, from its Old Town to its beaches. One place you can’t miss is the viewing platform at Elevador do Peneco which has some of the best views over the beaches in all of the town.

There are two excellent beaches right in Albufeira. My favorite is Praia do Túnel, which is connected to the old town by a tunnel. There’s also Praia dos Pescadores, which extends until Miradouro do Pau da Bandeira, another excellent viewpoint.

For dinner, you can either stay for dinner in Albufeira or continue driving to Faro and eat there… but if you choose to dine in Albufeira, I recommend either Prazeres or Três Coroas.

Drive to Faro

Time to wrap up this Lisbon to the Algarve road trip by heading to our last destination! Luckily, Faro is just a short drive west of Albufeira and is the main city in Algarve. 

Unlike most nearby towns of the Algarve, Faro is a bit inland, separated from the sea by the Ria Formosa.

The city is known for the 19th-century gateway Arco da Vila, along with beautiful churches, and cool museums.

While you’re there, visit the cathedral of Santa Maria and check out the exhibitions at the Municipal Museum of Faro. If you enjoyed the other bone church you visited earlier, you can also take a peek at the small bone chapel and ornate altar inside Igreja do Carmo. 

For delicious Portuguese dishes, try Tasca do Ricky and Tascaria Chafariz, or if you’re looking for something more international, Faro has plenty of options.

Other Must-See Places in the Algarve

The coast of the Algarve west of Faro is the most popular and where most of the vacation attractions are. 

Aside from the places you may have already seen along the way, be sure to check out the beautiful Benagil Cave, and the spectacular beach Praia dos Três Irmãos.

Other can’t-miss spots include the small town Armação de Pêra with the nearby beaches, and Praia da Falésia, a long sandy beach backed by tall, red cliffs. 

East of Faro, visit the charming town of Olhão and the city and beaches of Tavira. This last stretch of coastline before the Spanish border is a succession of long sandy beaches and small towns. 

This area is great if you want to escape the crowds of the more popular places in the west.

Roxana Fanaru

Roxana is a Romanian-born freelance travel writer who has lived in Italy for over 15 years. She has a Master’s in Journalism and a Bachelor’s in Film Studies, and she studied at Università degli Studi di Roma Tre. Besides her native Romania, Roxana has lived in Rome, Lisbon, and Berlin, and she has traveled through much of Europe in search of hidden gems, history, and culture.