Sintra

Portugal's most famous Romantic palace crowns the Serra with its yellow and blood-red towers. Leashed dogs are welcome in the vast Park of Pena (200 ha of exotic gardens and trails), though not inside the palace itself. Bring water for the wooded climb.

This early-20th-century neo-Manueline estate is famous for its Initiation Well, a spiral stair plunging underground, and its mysterious gardens. Leashed dogs are allowed in the grounds, a green labyrinth perfect for shaded exploring.

The exotic Monserrate Palace is wrapped in one of Portugal's finest botanical gardens, mixing species from across the world over rolling lawns. Leashed dogs are welcome here, away from the Pena crowds. Ideal for a long, quiet walk.

The ramparts of the 9th-century Moorish castle snake along the ridge with sweeping views over the valley and the Atlantic. Leashed dogs may walk the grounds and walls; the terrain is rocky, so bring sturdy paws and water.

The westernmost point of mainland Europe, where the cliffs drop 140 m into the Atlantic. The open, wind-swept headland trails are walked on lead; keep your dog well back from the steep edges. Spectacular sunsets.

The old town (Vila Velha), below the National Palace with its two conical chimneys, is a maze of cobbled lanes, pastry shops (travesseiros and queijadas) and terraces that welcome leashed dogs. Perfect for a stroll between palaces.