Sesimbra

A hilltop medieval castle above the town, rebuilt by the Moors and taken during the Christian Reconquista in the 12th century. The exterior grounds and ramparts are open and free to visit; leashed dogs are commonly seen on the steep, cobbled climb, though building interiors are off-limits.

Sesimbra's working fishing harbour, where boats still land swordfish and fresh catch that supply the town's seafront restaurants. A public promenade runs along the water, and leashed dogs are generally welcome to walk it, especially in the late afternoon when the boats return.

The town's sheltered, south-facing bay and its seafront avenue, lined with cafes and grelhador terraces looking out over the Atlantic. The paved promenade itself is walkable with a leashed dog year-round, though the town's own guarded beach nearby bans dogs under municipal rules.

A dramatic clifftop headland about 12 km from town, with a lighthouse and the historic pilgrimage sanctuary of Nossa Senhora do Cabo Espichel. Hiking trails around the open cape are used by dog walkers on a leash, though the sanctuary and lighthouse interiors are off-limits.

Viewpoints along the Serra da Arrábida natural park, overlooking pine forest, limestone cliffs and the turquoise coves between Sesimbra and Setúbal. Around 95 percent of the park is private land crossed by marked trails, so dogs should stay leashed and on the paths rather than roam off-trail.

A seafront fort on the Sesimbra waterfront, built to defend the bay in past centuries and now standing beside the promenade. The exterior and surrounding seafront area can be walked with a leashed dog, though the fort's interior is not open to the general public as a visitor sight.