- 1In Setúbal, the Arrábida coves at Figueirinha, Galapinhos and Portinho da Arrábida, the dog-friendly Atlantic Ferries crossing to the Tróia peninsula, and the Forte de São Filipe panorama over the Sado estuary are within reach of every hotel on this list, good for morning and evening outings.
- 2Setúbal is a working Atlantic port wrapped around the Sado estuary, with translucent Arrábida limestone coves 15 minutes from the centre, a free year-round bottlenose dolphin show from the dog-friendly Tróia ferry, the 110 km² Serra da Arrábida Natural Park rising directly from the sea, and an underrated tasca culture built around choco frito and Moscatel, pets are a normal part of street life, café terraces, and local shops.
- 3Hotels selected for this guide are specifically in the historic centre around Praça do Bocage and Avenida Luísa Todi, the Albarquel waterfront on the city's western edge, and the Arrábida cliff road towards Portinho, where pet infrastructure is densest and local restaurants routinely provide water bowls and terrace access.
Best season: spring & autumn