20-Day Motorhome Adventure from Lisbon to the Algarve: Discovering Portugal in 20 Days

Exploring Portugal by Motorhome: A 20‑Day Road‑Trip Adventure

Portugal has earned its reputation as a top destination for motorhome enthusiasts. Ranking just behind Italy, the country offers a blend of charming towns, impressive coastlines, and lush interior landscapes – all accessible from the comfort of a campsite.

Why Portugal is a Motorhome Magnet

• Wide network of well‑maintained roads that traverse the country’s varied terrain.
• Extensive and affordable camping sites featuring modern facilities.
• Rich cultural heritage with historic cities, lively festivals, and culinary delights.

Your 20‑Day Itinerary

Days 1‑5: Northern Charm

• Day 1: Arrive in Porto, explore Ribeira District and taste local port wine.
• Day 2: Drive to Braga; visit Bom Jesus do Monte.
• Day 3: Traverse the Douro Valley – stop at vineyards and portable tea gardens.
• Day 4: Head to the Atlantic coast, stop in Vila do Conde for surf culture.
• Day 5: Flex day – optional bike tour around Peneda‑Gerês National Park.

Days 6‑10: The Heart of Portugal

• Day 6: Urban adventure in Lisbon – visit Belém Tower, try pastéis de nata.
• Day 7: Explore Alfama district; evening fado music.
• Day 8: Take the Camino de Santiago trail influence by visiting Coimbra.
• Day 9: Drive to Serra da Estrela; hiking in snow‑cap forests.
• Day 10: Relax in Cascais beach town, sunset coastal walk.

Days 11‑15: Southern Splash

• Day 11: Arrive in Faro, discover the Old Town, marina.
• Day 12: Day trip to Lagos; dive into the Sagres Peninsula.
• Day 13: Visit the Alqueva reservoir – paddle or kayak.
• Day 14: Visit a traditional goat‑herding village; sample local cheese.
• Day 15: Sunset over the western Algarve beaches.

Days 16‑20: Legacy & Relaxation

• Day 16: Return to Lisbon for boutique shopping – Carlsberg Heritage Centre.
• Day 17: Take a leisurely drive along the coastal Route 3; stop at scenic lookout points.
• Day 18: Spend a day at the national park from the Carregal technique of nature.
• Day 19: Last‑minute sightseeing in heritage sites: Sintra, Cascais.
• Day 20: Depart from Portugal – reflect on memories.

Tips for Your Motorhome Journey

• Plan your campsites ahead – use the Camping?Net guide.
• Respect local traffic laws – Portugal’s speed limits are strict.
• Stay nourished – buy fresh produce from local markets.

Takeaway

With delightful destinations, diverse ecosystems, and convivial locals, Portugal proves to be a magnet for motorhome travelers. A 20‑day journey across its north, heart, and south offers an unforgettable blend of adventure, culture, and culinary pleasure.

Motorhome Enthusiasts Gear Up for a Portuguese Summer

Portugal’s scenic routes are becoming the preferred destination for roughly 18% of the nearly three million motorhome owners across Europe this season.

Why Portugal is Turning into a Motorhome Haven

• Only 13,000 registered motorhomes, yet the country’s appeal is soaring.
• Visitors typically spend about €52 each night, a cost considered favorable for extended road trips.
• Spanish, French, Italian, and German travelers are the majority, often staying for a month or more between June and September.

Our 20‑Day Exploration of Portugal in a Motorhome

We began our journey in Lisbon, heading southward along the stunning Costa Caparica and Costa Vicentina. The adventure continued through the famous Algarve region, showcasing Portugal’s varied coastline.

Highlights of the Trip

• Logistics: Camping-compatible sites with essential amenities.
• Scenery: Dramatic cliffs, golden beaches, and charming seaside villages.
• Culture: Local festivals, historic ruins, and bustling markets.

What’s Ahead for Motorhome Travelers

With growing popularity, Portugal’s infrastructure is evolving to better accommodate motorhome tourists, making it an attractive option for those who enjoy the freedom of the open road.

The starting point in Lisbon

Lisbon Arrival After a Long Wheel‑to‑Wheel Trek

Once the engines cooled after more than six hours of driving from Madrid, the motorhome finally rolled into the heart of Lisbon. At the city’s outer edge the traffic swirls in chaotic bands, and the drivers seem to possess little patience.

Urban Driving: A Real Test of Skill

Handling a motorhome in a major city is an already complex task. In Lisbon it feels almost impossible: parking near the centre and doing so safely turns into a small adventure of its own.

Choosing a Spot via park4night

The park4night app, a staple for most motorhome owners, offers several parking points around the city. However, only a few of those exist quite reliably. After quick sorting, we decided on a pay‑and‑display lot close to the remarkable 25 de Abril Bridge.

Nearby Landmark: The 25 de Abril Bridge and Cristo Rei

The bridge stretches for two kilometres, rising above the Tagus River’s estuary. Offering a magnificent view, it forms a dramatic backdrop with the huge statue of the Redeemer—Cristo Rei—watching over the harbour. The statue itself stands 28 metres tall, plus 82 metres of pedestal for a total height of 110 metres.

Discovering Lisbon: A Journey Through History and Culture

Lisbon reveals itself best when you venture on two wheels—biking offers an intimate look at the city’s famed landmarks. As you wind through the historic streets, you’ll encounter the towering Belém Tower, the majestic Jerónimos Monastery, and the legendary Monument to the Discoveries. After a quick break at the Belem Bakery, savor their renowned warm cream pancakes dusted with cinnamon and a touch of sugar.

Getting Around the City

• Metro and trains connect easily to the city center.
• Lisbon’s openness invites travelers of all backgrounds.
• Summer heat is tempered by weekend swims along the Tagus River.
• Numerous attractions await guests eager to explore.

St. George’s Castle and the Old Town

The panoramic vista from St. George’s Castle is unforgettable. Strolling through the old town, you’ll be immersed in the bohemian ambience of Chiado, home to the historic Café a Brasileira. The terrace proudly displays a statue of Fernando Pessoa, adding an extra layer of cultural depth.

Must-See Spots

• Praça do Comércio—the former maritime hub with breathtaking views of the Tagus.
• Historic cathedral and striking viewpoints in Graça and San Pedro de Alcântara.
• Iconic Tram 28—a nostalgic ride that crisscrosses Lisbon’s winding streets and hills.
• Elevador de Santa Justa—connects the lower Baixa district to the upper neighborhoods.

Costa Caparica, Lisbon’s beach

Re‑enjoy the Coastal Adventure

Embark on a scenic drive down the southwestern shoreline of Portugal, beginning just 20 minutes from the capital on the famed Costa Caparica. The stretch boasts 15 kilometres of golden sand and the cool rush of Atlantic waves, drawing families, surfers, naturists, locals, and wanderers alike.

Lisbon’s Signature Shorelines

• Praia de São João – A vibrant hub with beach bars, live bands, and sunset terraces.
• Praia Nova – The quintessential Lisbon beach, inviting all with its lively atmosphere.

Moving further south, the terrain grows more pristine and untamed, offering expansive stretches of sand that feel almost untouched by human hands.

Setúbal: A Jewel Down the Line

After a couple of days, the journey leads to Setúbal, 50 kilometres from Lisbon. This coastal town is encircled by the Arrábida Natural Park, a sanctuary known for the country’s most spectacular shoreline.

While motorhome parking along the coast is prohibited, daytime visits are encouraged: park your campervan temporarily, soak in the breathtaking vistas, and experience the park’s natural majesty.

Key Takeaways

• Enjoy beachside living with lively bars and sunset spots.
• Explore the untouched western sands for a wild, natural feel.
• Respect local conservation rules by parking only during daylight.

Exploring Portugal in a Camper Van

Praia de Galapinhos – A Coastal Gem

• Natural Beauty: Crystal‑clear turquoise waters and pristine sand.
• Scenic Setting: Nestled on the Setúbal coast, offering a calm and picturesque escape.
• Ideal for Travelers: The region blends sea, mountains, and authentic charm, though parking can be a bit challenging.

Setúbal Region – A Journey of Contrast

The Setúbal area is a perfect starting point for itinerant explorers, marrying marine and mountain landscapes while maintaining a strong sense of authenticity.

From Setúbal to the Troia Peninsula

Take a ferry from Setúbal to the Troia Peninsula—a stretch of fine white sand, calm waters, and ample wind suitable for a relaxed beginning of the route.

Continuing to the Alentejo and Vicentina Coast

From Troia, the journey naturally extends along the Alentejo and Vicentina coasts. These areas form a smooth transition to the next highlight:

Comporta – An Artistic Haven

• Destination: Known affectionately as a retreat for artists, designers, and celebrated international figures.
• Atmosphere: Boasts a relaxed vibe where creativity thrives.

Sines – The Birthplace of a Legend

Located approximately 55 kilometres further down the coastline, Sines is a historic industrial town famous for being the birthplace of Vasco da Gama, the navigator who charted the route to India.

• Medieval Castle: Offers panoramic views and a touch of medieval magic.
• Naval Museum: Chronicles the life and legacy of the prominent Age of Discovery figure.

Wild nature and small villages

Exploring the Charm of Porto Covo

Starting from the coastal town of Sines, the scenery transforms dramatically into a setting of steep cliffs, unspoiled beaches, and classic villages. Among these, Porto Covo emerges as a striking destination, a modest hamlet featuring charming white houses adorned with blue shutters and an air of tranquility.

Immersed in Local Traditions

Porto Covo offers a strong sense of regional identity, making it perfect for those looking to step away from the bustle of city life and embrace a slower rhythm.

Key Attractions

• Praia da Samoqueira – This beach stands out with its dramatic rock formations, towering cliffs, and hidden alcoves, drawing many travelers along the coastal route. It’s an ideal spot for enjoying sea views and striking landscapes.
• Praia Grande – While smaller than Samoqueira, this beach remains a satisfying visit with its pleasant sands and panoramic vistas.

Offshore Visit

Take a boat trip to Ilha do Pessegueiro, a historic island that houses a centuries‑old fortress. The island’s rich past and scenic surroundings provide a memorable excursion beyond the mainland.

Exploring Portugal by Motorhome

With an anticipation that this trip might outshine every adventure before, we find ourselves at Praia do Malhão, nestled between Porto Covo and Vila Nova de Milfontes in the Odemira municipality.

A Secluded Coastal Gem

Encircled by pristine dunes, the shoreline offers an untouched beauty amplified by the rhythmic cry of the waves and the gentle ocean breeze. For surfers, this is a haven that feels almost removed from the world, a hidden corner where the horizon stretches endlessly. Yet the reality of the place is quickly reasserted by the sight of two mounted police officers, quietly reminding visitors to keep their motorhomes away from the beach.

From Wilderness to Welcoming Town

• Vila Nova de Milfontes – a more developed tourist destination, beloved by locals for its tranquil river beaches.
• Praia da Franquia – perfect for families, offering calm waters suitable for swimming and various water sports.
• The town’s picturesque streets and welcoming atmosphere create a contrast to the raw, natural beauty of the coast.

Our motorhome journey continues, embracing both the rugged allure of Portugal’s deserted coasts and the welcoming charm of its well-tended tourist spots.

From wild cliffs to crowded shores

Discover the Thrill of Cabo Sardão

After a brief cooling period, the adventure continues at Cabo Sardão, where towering cliffs that reach 40‑50 metres invite comparisons to sweeping fantasy landscapes from The Lord of the Rings or Game of Thrones. Located along the scenic Vicentine coast, this spot boasts a vibrant wildlife roster that includes white storks, peregrine falcons, sea deer, and numerous other intriguing species.

Experience Authentic Charm in Zambujeira do Mar

Next on our journey is the enduring fishing town of Zambujeira do Mar. Its compact white houses accented in blue sit beside a traditional cliffside port, while cozy eateries serve up freshly caught fish, all of which amplify the village’s timeless appeal. The suburb’s sprawling urban beach stretches out, presenting sweeping ocean vistas that captivate the eye.

Uncovering the Unusual Beauty of Praia de Odeceixe

Continuing our southwestern descent, we arrive at Praia de Odeceixe, one of Portugal’s most distinctive beaches, positioned on the diocesan boundary with the Algarve. The beach rests at the mouth of the Seixe River, which marks the division between the Alentejo and the Algarve regions.

• The confluence of river and sea yields a gorgeous horseshoe‑shaped sand bar.
• One flank is sculpted by ocean waves, while calm river waters carve the opposite side.
• A lively tide forms where the two waters meet, creating a playful current that brings joy to any child or adult who chooses to glide downstream.
• Surrounding green cliffs rise above the shoreline, providing breathtaking panoramas of this natural confluence.

Exploring the Algarve by Camper Van

Morning Stop: Praia de Monte Clérigo

In the western Algarve, within the municipality of Aljezur, we spend the first part of the day at Praiade Monte Clérigo. This sun‑kissed stretch is flanked by a cluster of charming white and pink chalets that give it a quintessential seaside vibe. The beach’s easy access makes it a favourite for both families and solo travellers looking for a relaxed seaside start.

Afternoon Destination: Carrapateira (Praia da Bordeira)

Later, we head to one of the Algarve’s crown jewels on the Cape of Vicentine Peninsula: Carrapateira Beach, also known as Praia da Bordeira. Stretching over three kilometres, it’s among the widest sandy stretches in the region and attracts surfers from around the world thanks to its steady, rolling waves.

• Water conditions: The beach can be dangerous for swimming, so caution is advised.
• Shoreline: A calm lagoon provides a safe play zone for children before they head to the waves.
• Surroundings: Behind the sand, expansive dunes are home to hundreds of seagulls, creating a lively and rustic atmosphere.

Motorhome & Parking Realities

The Vicentine coast is a magnet for camper van enthusiasts, but parking can be a challenge. Most parking spots require advance reservation; without it, securing a space can be impossible.

“Throughout the Algarve, parking and overnight stays are becoming increasingly difficult because of the sheer volume of visitors,” said a visitor from Seville. “This year, the restrictions on overnight stays are tighter than ever before.”

Tourist Overcrowding vs. Natural Appeal

During peak season, the Algarve sees a surge in tourist activity. This influx often crowds the previously unspoilt, broad beaches of the Vicente Peninsula, pushing the delicate natural scenery into a background rather than the main attraction. Despite the bustling crowds, the region still offers beautiful, quieter spots for those who wander off the beaten path.

The end of the world

Cape St. Vincent: Europe’s Western Frontier

Cape St. Vincent stands as one of Portugal’s most iconic landmarks, perched at the westernmost tip of the continent. Travelers often describe it as the “edge of the world,” a phrase rooted in centuries of maritime lore.

Natural Splendor

• Impressive cliffs rise over 60 metres, offering a dramatic backdrop for seaside vistas.
• The open ocean stretches to the horizon, delivering breath‑taking panoramas.
• Its sunsets are celebrated as some of the finest across Europe, attracting visitors to capture the moment.

Atmosphere

Strong winds whip across the cape, adding an adventurous feel as tourists flock to photograph this remarkable scene.

Exploring Portugal on a Motorhome

Portugal offers a wealth of coastal gems for travelers who prefer the freedom of a motorhome. With its extensive network of well-maintained roads and campgrounds, you can experience the country’s stunning landscapes, historic cities, and pristine beaches at your own pace.

Discovering Praia do Beliche

Just a short drive from Cabo de San Vicente lies one of the region’s most cherished hideaways: Praia do Beliche. This secluded cove is framed by towering cliffs that create a gentle microclimate, keeping the waters pleasantly warm year-round.

• Access: The beach is reached by a narrow set of rock‑cut stairs. They’re sure to be a pleasant descent, though climbing back up demands a bit of effort.
• Aesthetics: With its emerald waters and sandy edges, the beach meets every postcard description.
• Local Flavor: Right on the rocks, an inviting wooden bar offers a selection of grilled sardines and chicken—an ideal spot to refuel after a day of exploration.

Why Praia do Beliche Stands Out

This tranquil spot combines natural beauty with the practicality of nearby amenities. The cliffs protect the cove from wind, making its waters calm and perfect for swimming, while the bar provides a taste of local cuisine that enhances the overall experience.

Planning Your Stay

• Set up your motorhome early to take advantage of the available parking.
• Check local regulations on beach use and follow guidelines to preserve this pristine environment.
• Enjoy a relaxed afternoon of sun, sea, and freshly grilled fish.

Next Stop: More Coastal Adventures

After enjoying Praia do Beliche, head further west toward the Algarve coast for even more breathtaking beach sights—all accessible directly from your motorhome’s convenient accommodation.

Mass tourism on the Algarve

Exploring Algarve’s Coastal Gems

Our journey continues through the Algarve, landing in the historic town of Lagos, where visitors from across Europe find a vibrant mix of culture and natural beauty.

First Stop: Ponta da Piedade

• Stunning cliffs and sea caves that create one of Europe’s most iconic seaside panoramas.
• Visitors often crowd the rocks, seeking shade while the turquoise waters, rich with seaweed, gently lap the shore.

Next, we head to Portimão, a bustling Algarve hub known for its welcoming harbor and wide array of boat trips.

Sea‑Adventure in Portimão

• Board a two‑hour cruise that navigates through the lovely towns of Algar and Carvoeiro, and along Praia da Marina and Praia do Carvalho.
• Reach the renowned Benagil Cave, where a natural skylight lets sunlit rays plunge into the water, casting a mesmerizing glow on golden sand and warm stone walls.
• After exploring, enjoy a refreshing swim in the crystal‑clear sea just offshore.

Upon returning, the Praia da Rocha welcomes us with its lively atmosphere and inviting shores.

Discovering Portugal in a Motorhome

First Stop: Albufeira

After just 45 minutes on the road, we arrive at Albufeira, the bustling hub of tourism in the Algarve. The serene air gives way to lively streets, crowded cafés, and the unmistakable buzz of mass visitors enjoying the region.

• English‑Dominated Atmosphere – The town has largely become a playground for English travelers.
• Pristine Beaches – Including the charming Praia do Túnel where you can walk through a natural tunnel cut into the cliff from the old town.

Next Destination: Faro

After the surge of Albufeira’s excitement, Faro offers a calmer, more relaxed vibe as the capital of the Algarve. Its historic waterfront surrounds a medieval old town, complete with Moorish and Roman walls.

• Historical Charm – Stroll through the narrow streets and admire the ancient architecture.
• Proximity to Nature – Neighboring the Parque Natural da Rea Formosa, one of Europe’s premier wetlands featuring islets, marshes, and waterways perfect for exploration.

Tavira: The unknown jewel of the Algarve

Discovering Tavira, Algarve’s Hidden Jewel

Over the past 48 hours, we came across a true gem tucked away in the Algarve: Tavira. While it may not match the renown of its neighboring towns, it presents an ideal, peaceful stop for the road‑trippers among us.

Historical Layers

• Roman foundations that echo the region’s ancient past
• Islamic influences reflected in its architecture and layout
• Christian heritage that continues to shape its streets and squares

Architectural Charm

Tavira boasts immaculate white houses crowned with gabled roofs, narrow cobbled streets, and open squares enriched by orange trees. These elements blend to create a distinctive, inviting atmosphere that feels both historic and welcoming.

Exploring Portugal in an RV

From the historic heart to the tranquil coastlines, a road‑trip across Portugal offers a spectacular blend of culture, history, and natural beauty.

Key Highlights

• Roman Bridge – a centuries‑old stone footbridge spanning the Gilão River, an unmistakable symbol of the nation’s Roman heritage.
• Fortresses & Churches – the castle’s imposing walls and over twenty architecturally rich churches dot the cityscape.
• Secluded Beaches – remote shores that promise a peaceful escape from the usual crowds.
• Motown‑style Train Ride – a short journey to Praia do Barril, where rows of curious crabs trot across the marshes.

The River Crossing Experience

While crossing the Gilão, the Roman Bridge reveals layers of history once more. It carries a passage of stone that carries the legacy of the early Roman settlement, a quiet reminder that this is commented upon by local histories.

Praia do Barril

The eight‑minute train ride to this pristine beach is a delightful visual symphony. The water teems with crabs, turning the marsh into a living canvas of movement.

A Beach with a Legacy

Upon arrival, you’ll encounter a remarkable anchor cemetery on the left shore. Here, light stands among more than 200 old anchors — a silent proof of the beach’s rich maritime past.

Cape Anchor Cemetery – Exploring Southern Portugal by Motorhome

Historic Foundations of the Coastal Zone

Cementerio de Anclas stands as a living memory of a booming fishing era that spanned from 1841 to 1966, when this stretch served as a vital tuna fishing hub. When the industry shut down, countless sailors left their anchors as silent testaments to their journeys. The railway that once ferried supplies was later transformed into a tourist route, allowing visitors easier access to the area.

Must‑Visit Destinations

• Ilha de Tavira – A secluded island reachable only by ferry from Tavira city. Its endless white sands, calm atmosphere, and low crowd density make it a perfect “island escape” for those seeking serenity.
• Other tranquil coastlines near the Vincentian Coast and Coastal Alentejo – These regions offer wild landscapes and quietude that contrast sharply with the bustling towns of the Algarve.

The Road Trip Experience

After spending 20 days traveling south along Portugal’s coast, we found the southwestern and southern regions ideal for travellers who want the freedom of a motorhome and the raw beauty of nature. From the rustic, untouched beaches that lie west of Lisbon to the lively shoreline of the Algarve, this journey showcases the complete spectrum of Portugal’s coastal charisma.

It is the ideal itinerary for anyone eager to combine lush natural scenery with the spontaneity that comes from living on the road.