Guimarães

The 10th-century fortress, symbolic cradle of the nation, raises its granite towers on the sacred hill. Dogs cannot visit the interior, but the esplanade and gardens around it make a superb on-lead walk.

This 15th-century palace with its spectacular brick chimneys recalls the manor houses of Normandy. The interior, a state museum, does not accept pets, but the forecourt and adjoining park are fine for a stroll.

The beating heart of the medieval centre, with its Gothic shrine, arcades and tightly packed café terraces. Leashed dogs are welcome on the terraces, perfect for a coffee after wandering the lanes.

The oldest street in town links the centre to the castle between medieval facades, flowered balconies and cobbles polished by centuries. A gentle climb, ideal on lead early in the morning when the street still belongs to locals.

At 600 metres, this sanctuary surrounded by pine woods and giant granite boulders offers the best panorama over Guimarães. The shaded trails and nooks between the rocks are a dream playground for a leashed dog.

The cable car links the town to the top of Penha in about ten minutes, floating over vineyards and woods. Pets are generally admitted in the cabins under conditions, check the current rules at the ticket desk before boarding.