# Serra da Arrábida

A limestone range that drops into the sea between Setúbal and Sesimbra, with coves of still, clear water at the foot of the slope, dolphins that live all year round in the bay and cliffs that you explore by kayak or by hopping from rock to rock.

Fuente: https://www.geocalia.com/en/portugal/lisbon-region/arrabida · Revisado: 2026-11-12

## How do you get there from Spain?

By car, along the Badajoz and Évora motorway as far as Marateca and from there to Setúbal: about six hours from Madrid. If you arrive by air in Lisbon, Setúbal is about 50 km to the south across the 25 de Abril or Vasco da Gama bridge, and the Fertagus train links Lisbon with Setúbal without changes. Sesimbra, on the other side of the range, can be reached by car or by bus from Lisbon.

## How do you get around the range?

Outside summer, by car: the high road of the range links Setúbal, Azeitão and Sesimbra, and the coast road drops down to Portinho. From 4 June to 15 September, from 7:00 to 20:00, the beach road is closed to private cars: leave the car in the free car parks in Setúbal and take buses 4474 and 4470, which are included in the Navegante card. Bikes, motorbikes and taxis can get through.

## What should you book in advance?

Kayaks, coasteering and dolphin boats, especially in July and August and on June weekends. The Arrábida convent can only be visited by appointment. Staying at Portinho is almost impossible: look in Setúbal, Azeitão or Sesimbra.

## Dónde está
- Cerca: Palmela and Azeitão (a 7.2 km), Setúbal and the Tróia Peninsula (a 10.0 km), Sesimbra (a 10.6 km), Costa da Caparica (a 28.0 km)

## Qué hacer
- **Arrábida beaches, from Figueirinha to Galapinhos and Portinho** (6 h · Everyone; Galapinhos involves going down stairs · Free access; Creiro car park is paid): These are bay beaches, with stiller and slightly warmer water than on the open coast, and with the green slope of the mountains behind. In bathing season you cannot arrive by private car: what changes is how you get there, not whether it is worth it.
What they are and where they are
The Arrábida beaches follow one another along the southern coast of the mountains, west of Setúbal, within the Arrábida Natural Park and facing the Luiz Saldanha marine park, which protects the sea from Figueirinha to Cabo Espichel. The mountains shelter them from the north wind and the bay water has hardly any swell, so they are beaches for calm swimming rather than surfing.
From east to west you find Figueirinha, long and sandy; Galapos and Galapinhos, smaller and wedged between the rock; and Creiro and Portinho da Arrábida, at the end of the road, with a handful of houses, boats and restaurants. Beside Creiro are the remains of a Roman fish-salting factory.
How to get there in summer
From 4 June to 15 September 2026, access by private car is restricted from 7:00 to 20:00 on two stretches: the one leading to Albarquel and Figueirinha from Setúbal, and the one going down to Portinho, Creiro and Galapos from the Pinheiro junction, on the ER 379-1, the high road of the mountains. Buses, taxis, private-hire vehicles, motorbikes, bikes, scooters, pedestrians and vehicles with a disability card may pass.
The buses work with the Navegante card. The 4474 links the Alegro shopping centre and the Várzea terminal with Figueirinha: in July and August it runs about 51 trips in each direction on weekdays, from 8:00 to 20:30, and 67 at weekends. The 4470 goes from Setúbal to Creiro via Vila Nogueira de Azeitão in an hour, with ten trips in each direction; in June it only runs at weekends. The 4477 is a shuttle between Creiro and Galapos every half hour, from 8:30 to 20:00.
The Creiro car park, run by the Associação Baía de Setúbal, has about 140 spaces and is paid from 7:00 to 18:00. When it fills up, the road down is closed. The free park-and-ride car parks are at the Alegro, at Várzea and next to the monthly market in Azeitão, the latter with about 200 spaces a few steps from the 4470 stop.
Safety and the coast road
The storms of early 2026 damaged the mountain slopes, and the coast road between the Figueirinha tunnel and Galapos, Rua Círio da Arrábida, remains closed because of the risk of falling rocks. That is why Galapos is reached from the Creiro side. Respect the fences and do not stand at the foot of the slopes.
In the water, swim at the beaches with a flag and within the bathing season, when there are lifeguards. Outside it there is no supervision.
Outside summer
Before 4 June and after 15 September you can drive to Creiro and Portinho via the Pinheiro junction, without restrictions. The beaches are almost empty, and in spring and autumn they are good for strolling and for a kayak off Portinho when the sea is calm.
- **Sado dolphins and the Arrábida coast by boat** (2 h 30 · Everyone who does not get seasick · Desde 50 € per person): The Sado dolphins do not migrate: they live all year round between the estuary and the bay, and go out to fish along the coast of the mountains. That is why there are trips at any time of year, although nobody can promise you will see them.
What it is and why it is worth it
At the mouth of the River Sado, opposite Setúbal, lives a group of bottlenose dolphins that does not leave with the seasons. It is a resident population, something uncommon in Europe, and it moves between the estuary, Setúbal bay and the coast of the Arrábida mountains, where the mountain drops straight into the sea. The boat trips run along that coast looking for them, and on the way show you the limestone cliffs, the coves and the green of the mountains from the water, which is how they are best seen.
What sets one trip apart from another is who is on board. With Vertente Natural, which has worked in the Arrábida since 2004, a marine biologist goes out from Sesimbra and explains how the dolphins live and how to recognise each one. The company publishes a sighting rate above 90%, and if you are not satisfied it offers you another activity.
Who it is for
For almost everyone: children, teenagers and adults, as long as boats do not make you seasick. In a calm sea the trip is peaceful; in a ground swell, the boat moves. If you are prone to seasickness, take something before boarding and look at the horizon. It is not for those looking to swim with dolphins: they are observed from the boat, at a distance, without chasing them.
How to get to Sesimbra
Vertente Natural leaves from shop 6 in Sesimbra's sheltered harbour. Sesimbra is on the other side of the mountains from Setúbal, and from Lisbon you get there by car, crossing the Tagus, or by bus. If you are staying in Setúbal, the high road of the mountains passes through Azeitão and goes down to Sesimbra. In summer, take note: the road to the Arrábida beaches, the coastal one, is closed to private cars from 7:00 to 20:00 between 4 June and 15 September, but that does not affect the high road.
When to go
There are trips all year, because the dolphins are there all year. What rules is the sea: look for a calm day with little wind. The morning is usually better than the afternoon, when the wind rises, and has better light for photos. In July and August book ahead.
How much it costs
From €50 per person, with the biologist on board and priority boarding. There is a family pack from €99. The booking is confirmed immediately on the website.
If the sea is rough
In a ground swell or strong wind the trip is uncomfortable and may not run. Ask the company when booking what it does in those cases. As a land plan, Cabo Espichel, with its sanctuary and dinosaur footprints, is a few kilometres from Sesimbra.
- **Kayaking beneath the cliffs of Sesimbra and Portinho** (3 h · No experience; must be able to swim · Desde 40 € per person): What it involves
You paddle a sea kayak, with a guide, right up against the coast of the Arrábida mountains, past coves that no path reaches and beneath limestone cliffs with caves and arches. All this coast lies within the Luiz Saldanha marine park, which protects the sea from Figueirinha to Cabo Espichel, so the water is usually very clear and from the kayak you see the bottom in many stretches.
You do not need experience: you set out with a guide, who sets the pace and chooses the route according to the state of the sea.
Who runs it and what the options are
Vertente Natural works in the area, an outdoor activities company with a shop in Sesimbra's sheltered harbour (Shop 6). It publishes these outings:

Kayak Sesimbra Selvagem: 3 hours along the wild coast of Sesimbra, from €40 per person, with instant booking on its website.
Kayak Sesimbra Pack Família: the same area in 3 hours, designed for families, from €109 for the pack.
Kayak Arrábida Mar: 3 hours off Portinho da Arrábida, from €65 per person, with a minimum of 8 people.
Kayak Enseadas do Espichel: a 2-day crossing along the Sesimbra coast to Cabo Espichel, from €150.
Arrábida Terra e Mar: a 7-hour day combining activities on land and at sea, from €80, with a minimum of 8 people.

The prices are those the company publishes as "from"; the final amount depends on the number of people and the date.
Where it is based
The Vertente Natural office is in Sesimbra's sheltered harbour. Confirm the exact departure point when you book: the Portinho route does not leave from the same place as the Sesimbra one. From Lisbon you get to Sesimbra by car over the 25 de Abril bridge, or on Carris Metropolitana buses.
Season and timing
You paddle from spring to autumn, when the sea allows. The south coast of the mountains is sheltered from the north wind, but in a ground swell or south wind a kayak outing may be suspended or change route. Confirm with the company the day before.
If you go to Portinho in summer, remember that the road down to the Arrábida beaches is restricted to private cars from 7:00 to 20:00 from 4 June to 15 September.
Requirements and what to bring
You must be able to swim. The company does not publish a minimum age for each outing on its website: if you are going with children, ask when booking or choose the family pack. Bring a swimsuit under your clothes, a technical or Lycra T-shirt, a hat, sunglasses with a cord, water-resistant sun cream, water and something to eat. Your phone in a dry bag.
Other ways to see this coast
If you prefer something more intense, coasteering covers the same coast by swimming and jumping from the rock. For something calmer, the boat trip to see the Sado dolphins.
- **Coasteering at Boca de Tamboril** (4 h · Strong swimmers who want to jump · Desde 45 € per person): What it involves
Coasteering is travelling along the coast where there is no path: you walk over the rocks at the foot of the cliff, swim from one point to another, climb the stone and jump into the water from ledges of different heights. In the Arrábida it is done on the Sesimbra coast, beneath the mountains, in the waters of the Luiz Saldanha marine park, which are usually very clean.
The best-known outing is the one at Boca de Tamboril, in Sesimbra. It combines stretches on foot along the coast, swimming, short rope climbs, a natural rock slide, an abseil and lots of jumps into the water.
Who runs it and what the options are
It is run by Vertente Natural, an outdoor activities company with a shop in Sesimbra's sheltered harbour. It publishes three versions:

Coasteering Boca de Tamboril: 4 hours, active, sporty style, from €60 per person, with a minimum of 8 people.
Aventura em Coasteering: 4 hours, also active, from €65 per person.
Light Coasteering: 2 hours in the Arrábida natural park, more relaxed, with smaller jumps, from €45 per person and with a minimum of 4 people.

Book on the company's website or by phone (+351 210 848 919). If you are in a small group, ask whether other participants are signed up to make up the minimum.
Where it is based
The activities are organised from Sesimbra; the office is in the sheltered harbour (Shop 6). The company does not publish the exact meeting point for each outing: it confirms it when you book. From Lisbon you reach Sesimbra by car over the 25 de Abril bridge.
Season
It is done in the months of warmest water, from summer to early autumn, and whenever the sea is calm. With a ground swell or a south wind it cannot be done: confirm with the company the day before.
Who it is for and requirements
For people in good physical shape who swim confidently in open sea and are not afraid of getting their face wet or of jumping. It is an activity that teenagers like a lot. The company does not publish a minimum age or the equipment included on its website: ask when booking about age, the wetsuit, helmet and life jacket, and insurance.
Wear your swimsuit, and bring a towel and dry clothes for afterwards, shoes that can get wet and grip on rock (or ask whether they lend them), water and something to eat for the return. Do not bring jewellery or anything you do not want to lose.
Other ways to see this coast
If you fancy the same coast with less effort, the kayak beneath the Sesimbra cliffs goes to the same coves without jumping. For a quiet afternoon afterwards, the Arrábida beaches are to the east, past Sesimbra.
- **Arrábida Convent, by arranged visit** (1 h · Those interested in history and silence): What it is
The convent of Nossa Senhora da Arrábida is a Franciscan complex spread across the southern slope of the mountains, above Portinho and facing the sea. It was founded in 1542 by Friar Martinho de Santa Maria, a Castilian Franciscan, on land granted to him by João de Lencastre, first Duke of Aveiro. The first four friars lived for two years in cells dug into the rock, beside the Memória chapel, before the convent was built.
After the dissolution of the religious orders in 1834 the place suffered looting and abandonment. The House of Palmela bought it in 1863 and in 1990 it passed to the Fundação Oriente, which preserves it and organises the visits. It is not an open-door monument: you can only enter with a guided visit and a reservation.
What you see
The complex has two parts, at different heights:

The Convento Novo, halfway up the slope: the main building where the community lived, with Portinho bay at your feet.
The Convento Velho, at the top of the mountains: four chapels, a group of small huts with the mysteries of the Passion and some cells opened in the rock. It is the oldest and most austere part, and is reached on foot through the scrub.

What impresses is the scale: tiny cells designed for a life of poverty and silence, in one of the most open landscapes on the Portuguese coast.
How it is visited
Visits are guided, in Portuguese or English, and normally take place on Wednesdays, Saturdays and Sundays. There are two historical itineraries: one through the Convento Novo, suitable for all ages, and another through the Convento Velho, for over-12s, which is scheduled on specific dates. The Fundação Oriente advertised visits to the Convento Velho on Saturday 12 December 2026 and, in 2027, on Saturdays 16 January, 20 February, 6 March, 10 April and 29 May and Sunday 27 June. It also organises themed visits, exploration games and workshops for families.
The foundation does not publish the times or the price of each visit on its website. Check the visit programme at foriente.pt and book by phone (+351 213 585 200) or by email (info@foriente.pt) in advance, because places are few.
How long
Allow about an hour for the visit to the Convento Novo. The one to the Convento Velho needs more time and legs, because of the climb through the scrub. The foundation does not publish the durations: confirm them when booking.
How to get there
The convent is on the ER 379-1, the high road of the mountains, between Setúbal and Azeitão, above Portinho da Arrábida. You get there by car; confirm the meeting point and where to leave the car when booking. There is no public transport that stops at the door.
In summer, the road down to the beaches is restricted from 7:00 to 20:00 from the Pinheiro junction, but the high road stays open.
Who it is for
For those looking for history, silence and landscape rather than a museum. The visit to the Convento Novo works with older children, especially the workshops for families that the foundation organises; the one to the Convento Velho is only from age 12. There are stairs, uneven floors and slopes: it is not wheelchair accessible.
- **Cabo Espichel, the sanctuary and the dinosaur footprints** (1 h · Everyone; take care at the edge · On your own · free): What it is
Cabo Espichel is the south-western tip of the Setúbal peninsula, west of Sesimbra, where the Arrábida mountains end in sheer cliffs above the Atlantic. At the top, on an esplanade open to the wind, there are a lighthouse, the sanctuary of Nossa Senhora do Cabo and, below the esplanade, slabs of rock with dinosaur footprints. It is an austere place, with no shops and almost no shade, and that is why it makes such an impression.
What you see

The sanctuary: the Baroque church of Nossa Senhora do Cabo, with the two long wings of the old pilgrim hostels that close off the esplanade. Turismo de Lisboa describes it as the only Portuguese sanctuary planned from scratch. The complex also includes the Memória chapel, at the cliff edge, the Casa dos Círios, the cross, the Casa da Água and an aqueduct.
The Memória chapel: a small chapel covered in tiles, a few metres from the drop. From here you see the Lagosteiros bay below.
The dinosaur footprints: on the sloping wall of the bay, the Pedra da Mua Natural Monument preserves sauropod tracks from the Jurassic. The local legend says they were the hoofprints of the mule that carried the Virgin up from the sea. There is a second protected site, Lagosteiros, in the same bay.
The lighthouse: at the far end of the cape, above the sea.

Opening hours and price
The cape is free to enter at any hour. The sanctuary church is open, according to Turismo de Lisboa, Monday to Friday from 9:30 to 17:00 and at weekends from 9:30 to 18:00, with free entry. The footprints can be seen from above without paying anything.
How to get there and park
By car, from Sesimbra follow the EN 379 westwards; the road ends at the sanctuary esplanade, where you park. By public transport, Carris Metropolitana line 3205 links the Sesimbra terminal with the cape, but with few departures a day: check the timetable on its website before going, especially the return one.
If you are travelling through the mountains, the cape is the natural end of the Arrábida ridge road.
When to go
All year. At sunset the light falls from the side on the sanctuary and the sun sets over the sea; in winter there are days of strong wind and fog that cover everything. On weekdays and outside summer there is almost nobody.
Bring a coat even if the weather is fine in Sesimbra: it is windy up there. There is no shade on the esplanade, so in summer bring water and a hat.
With children
The dinosaur footprints are the hook. Bring binoculars to see them well from the viewpoint and tell them the legend of the mule. Hold children's hands near the edge; the esplanade, on the other hand, is wide and flat.
- **The high road of the Serra da Arrábida** (1 h · Car, motorbike and road bike · On your own · free): What it is
The ER 379-1 is the road that crosses the Arrábida mountains along the top, between Setúbal and the Azeitão area, within the Arrábida Natural Park. It runs halfway up the slope and along the ridge, among Mediterranean scrub, and at several points it looks out over the sea from a few hundred metres up: below you see the turquoise bay of Portinho, the Tróia peninsula on the other side of the Sado estuary and, in good visibility, the coast heading south.
It is not a route with organised stops or viewpoints with facilities. There are lay-bys on the verge where a few cars fit and from which you get the photo. What makes it special is the contrast: on one side, the low scrub and white limestone; on the other, the sea. The highest point of the range, Pico do Formosinho, reaches 501 m.
The route
You leave Setúbal heading west and the road begins to climb at once up the mountain slope. After the first bends the first lay-bys appear with views over the bay and Tróia. Further on you reach the Pinheiro junction, where Rua Círio da Arrábida branches off, the road that goes down to Portinho, Creiro and Galapos. It passes beside the Arrábida convent, which can be seen hanging on the hillside.
From the junction, the ER 379-1 continues west and then turns inland, towards Azeitão, where it links up with the roads to Sesimbra. From Sesimbra, the EN 379 takes you to Cabo Espichel, which is the natural end of the day.
With stops to look and a coffee in Azeitão, allow an hour; if you add Sesimbra and the cape, half a day.
Summer restrictions
From 4 June to 15 September 2026, Setúbal council restricts the passage of private cars from 7:00 to 20:00 on the descent to the beaches from the Pinheiro junction. If the Creiro car park fills up, that descent is closed completely. The ER 379-1 itself stays open: you can drive the ridge, but not go down to Portinho by car during the day. Motorbikes, bikes, taxis and buses can pass.
In addition, since the storms, the coastal stretch of Rua Círio da Arrábida between the Figueirinha tunnel and Galapos has been closed because of the risk of rockfalls, all year round. To go down to the beaches out of season, always enter via the Pinheiro junction.
By motorbike or bike
It is a narrow road with many bends, with more traffic on summer weekends. By motorbike it is a great pleasure. By road bike it climbs from Setúbal and shares the carriageway with cars: ride with lights and a vest, and avoid the busiest hours.
When to go
All year. Spring brings the hills in flower and clean air; in autumn and winter there are days of perfect clarity after rain. In mid-afternoon the sun falls over the sea and the bay shines; first thing, the light is soft and there are hardly any cars. In summer, at weekends there is more traffic from people heading for the beaches.
Who it is for
For those travelling by car or motorbike who want to see the mountains without walking. With children, it is a short trip with frequent stops; keep an eye on them at the lay-bys, which open directly onto the slope.

## Dónde comer
- **Tasca da Fatinha** (Restaurant, Setúbal, €€). Qué pedir: the fried cuttlefish, which is what gives Setúbal its fame, and a grilled fish from the display case to share.

## By car: The Arrábida by car, outside summer
From September to May, the car takes you along the high road of the sierra, down to Portinho and on to Sesimbra and Cabo Espichel in a day. In summer, from 7:00 to 20:00, the beach road is closed to cars: park in Setúbal and continue by bus.
Presupuesto orientativo: 60–140 € por persona y día.
### Dónde dormir if you're driving
- **Pousada Castelo Palmela** (Hotel): Sleeping in a castle above the Arrábida
The Pousada Castelo Palmela occupies the former convent of the Order of Santiago, inside Palmela castle, on top of a hill between the Arrábida range and the Sado estuary. It is a Historic Hotel with 29 rooms. From Palmela you reach Setúbal in a few minutes and, from there, the Arrábida ridge road and the beaches.
Rooms and restaurant
The rooms are former cells, each decorated in its own way, with a TV and free wifi; there are classic rooms, family rooms and suites. The restaurant is in the old refectory of the warrior monks and serves local cooking. Breakfast is a buffet. Reception is open 24 hours.
Parking and getting around
There is free public parking inside the castle walls. At reception they will tell you about nearby activities, which are paid: wine tastings, boat trips on the Sado, kayaking and outings to see dolphins. One small dog per room is accepted, up to 15 kg, for €30 a night. In summer, remember that the beach road is closed to cars during the day: go down to Setúbal and take the bus.
- **EcoParque Prof. José Fernando Gonçalves** (Campsite): Sleeping inside the natural park
The EcoParque is Setúbal's municipal campsite, at Outão, already inside the Arrábida Natural Park, about 5 km from the centre. It looks onto the Sado estuary and is on the way to the Arrábida ridge road and the beaches. It is run by the council and appears in the official accommodation list of Visit Setúbal.
Bungalows, motorhomes and tents
The wooden bungalows have a double bed, a bathroom with a shower, air conditioning and a TV, with sheets and towels included. For motorhomes and caravans there are pitches with an electric hook-up and a service area that is free for guests. Tents pay per person per day, also with electricity. For motorhomes and tents, check availability first by phone or email.
The rest
A playground, an exercise circuit and a sand court, and at Cais da Gávea, within the grounds, they sell basic goods and serve set menus with a view of the river. Reception is open from 9:00 to 19:00 in low season and until 21:00 in summer; cars may enter from 7:00 to 23:00. The municipal tourist tax is charged.
### Servicios
- **Summer buses to the Arrábida beaches**: From 4 June to 15 September, 7:00 to 20:00, the beaches can only be reached by bus, taxi, motorbike, bike or on foot · Lines 4474, 4470 and 4477

## As a family: The Arrábida with children, still water and boats

It is one of the friendliest coasts in Portugal to visit with children: bay beaches without strong waves and boat trips of two or three hours. The only thing to plan is how to get to the sand in summer, because cars cannot get through.

### What works best
Figueirinha, with shallow water and a bus next door

The boat trip to see dolphins, with a family pack

Kayaking along the Sesimbra coast with children who already swim well

Cabo Espichel, for looking for dinosaur footprints with binoculars

### Where to sleep
Setúbal, next to the beach buses

Sesimbra, with a town beach and the harbour for boats

### Where to eat
Grilled fish at the restaurants in the harbours of Setúbal and Sesimbra

A picnic on the beach: there are few beach bars in the coves

### Keep in mind
In summer the bus is a must for the beaches of Portinho and Galapos

Galapinhos has stairs: with a pushchair, go to Figueirinha

Sunshade and water: there is almost no shade on the sand

### Qué hacer as a family
- Arrábida beaches, from Figueirinha to Galapinhos and Portinho
- Sado dolphins and the Arrábida coast by boat
- Kayaking beneath the cliffs of Sesimbra and Portinho
- Cabo Espichel, the sanctuary and the dinosaur footprints

## With teenagers: The Arrábida for teenagers, jumping and paddling

Here the challenge is in the water: jumping from the rocks, paddling beneath the cliffs and looking for dolphins. It works well to give each day one sea activity and leave the afternoon free on the beach.

### What works best
Coasteering at Boca de Tamboril, with jumps and an abseil

Kayaking along the wild coast of Sesimbra

The dolphin trip with a marine biologist

### Where to sleep
Sesimbra, where the harbour activities leave from

### Where to eat
Sandwiches and fruit for the sea day

### Keep in mind
For coasteering you need to swim confidently

The activities require a minimum group: book days ahead

### Qué hacer with teenagers
- Sado dolphins and the Arrábida coast by boat
- Kayaking beneath the cliffs of Sesimbra and Portinho
- Coasteering at Boca de Tamboril

## Consejos

### Beach in the morning, mountains in the afternoon
First thing the water is stiller and there is room on the sand. In the afternoon the wind rises: that is the time for the high road and the viewpoints.

### Sleep in Sesimbra or Setúbal
Sesimbra has the harbour from which kayaks and boats leave; Setúbal, the buses to the beaches.

### September is the best month
The water is still warm and from the 16th the beach road reopens.

## Preguntas frecuentes

### Can you drive to the Arrábida beaches?
Outside the bathing season, yes. From 4 June to 15 September, from 7:00 to 20:00, only buses, taxis, motorbikes, bikes and pedestrians can pass.

### Where can you see dolphins?
In the Sado estuary and Setúbal bay, where a resident population of bottlenose dolphins lives. Boats leave from Setúbal and Sesimbra.

### Is it a good destination with children?
Yes. Figueirinha has still, shallow water with the bus beside it, and the boat trip to see dolphins works for almost any age.

### How many days do I need?
Two or three: one for beaches, another for the sea (kayak, dolphins or coasteering) and half a day for Cabo Espichel and the road through the range.

### Can you do it in a day from Lisbon?
Yes, by car outside summer. In summer, with the train to Setúbal and the bus to the beaches, it is better to sleep there.