Portugal West Coast Road Trip: A Scenic Coastal Drive For Campervans

Planning a Portugal West Coast road trip and want to skip the crowds?

We’ve driven this route multiple times in our campervan with Lilly (our sandy little beach pup) and honestly, it’s one of our favourite coastal drives in Portugal.

It’s relaxed, full of variety, and works perfectly whether you’re in a car or a long-wheelbase camper.

This Portugal coastal road trip covers about 320 km of Portugal’s most dramatic seascapes over 8–10 days, starting just outside Lisbon near Cabo da Roca, the westernmost point of mainland Europe, and winding north along the Atlantic coast of Portugal through Ericeira, Peniche, São Martinho do Porto, Nazare (where we now live), and beyond.

Think rugged cliffs, quiet beaches, and postcard-perfect villages: ideal for slow travel, dog-friendly van life, and time in nature, especially outside of peak summer.

We’ll show you where to stop, where to park, and how to plan a west coast road trip packed with nature, local gems, and a few honest lessons we’ve learned (like which roads not to attempt in a long van).

Portugal West Coast Road Trip Itinerary

Duration: 8–10 days

Start: Lisbon

End: Porto

Best for: Coastal views, off-season travel, van life, slow exploration

Dog-friendly? Yes, most stops and beaches are pup-approved 

This route is designed with larger vehicles in mind. We drive a VW Crafter camper which isn’t exactly petite, and while most of this is smooth sailing, there are a few stretches we very much recommend avoiding if you’re in a bigger van: trust us, we nearly got stuck on some extremely narrow coastal roads that are technically two-way but shouldn’t be.

Praia da Ursa

Kick things off with a bang at Praia da Ursa – one of Portugal’s most dramatic beaches with a wild, untamed landscape tucked beneath the cliffs of Cabo da Roca. It’s also mainland Europe’s most western point!

It gets busy here, so unless you’re there first thing in the morning or during the winter it’s unlikely you’re going to have the place to yourself BUT it’s one of those places we think is definitely worth the hype.

The hike down is steep, so bring good shoes and skip it if you’re not feeling confident, but the view from the top alone is worth the stop.

Due to the steep rocky descent, it’s not necessarily dog-safe if you’re road tripping with a dog who can’t be off lead or trusted on tracks like this.

Parking And Camping Near Praia da Ursa

If you’re renting a small car, and don’t mind a bit of a rough drive, you park here which is quite close to the track down to the beach (not recommended in a rental).

Larger vehicles can park, and spend the night, at Cabo Da Rocha car park. From here you’ll have a roughly 40 minute walk to the beach via the absolutely beautiful cliff top track. You’ll need to be up early though, in summer the coach tours start arriving at 7am and the lighthouse gets busy fast.

⚠️ From here you’ll want to go back towards Lisbon and North via the N9 or A16 for a short while. Avoid driving through Pe Da Serra, Colares or trying to go via the coastal road if you are in a long or wide van. If you’re avoiding tolls you’ll want to check the roads before you set off and end up in a sticky situation

Ericeira

It wouldn’t be a West Coast road trip without a stop at what some consider to be the surf capitol of Europe!

Ericeira is home to some incredible year-round surfing, and even hosts the annual World Surf League competition.

Not up for trying out a surf class? That’s ok!

This beautiful seaside town has more to offer, like walking to Fort De Sao Pedro, exploring the world’s first surf reserve, taking a look inside the small but intricately detailed Igreja Paroquial de São Pedro, walking the historic town center and, of course, trying some of the local fresh seafood!

Parking And Camping Near Ericeira

A lot of the beach front car parks have height restrictions, which is usually a good indicator that a place isn’t keen on overnight parking. 

Depending on how long your van is, you could park here. It’s paid parking, but the closest you’re going to get with taller vehicles. Otherwise, you could park at the designated free campsite here. It’s restricted to 8 spaces, but if it’s full and you only need day parking you can park in the Intermarche car park nearby.

Since this area does appear to be more strict on camping, it’s likely heavily monitored over summer so we recommend our guide to how to find legal free camping in Portugal before you head off on your Portugal coast trip.

⚠️ Portugal’s coastal roads North from here are pretty good for any size vehicle.

Peniche

We love Peniche – but not for its beach, although it is pretty. We visit for the cliff top coastal walk of Ilhéu da Papôa! It’s a loop track that doesn’t take too long, but the views are great and it’s one of Lilly’s favourite places to watch the seabirds.

Surf lessons are available here too, and it’s a popular spot with families for just relaxing on the beach but perhaps the most iconic thing to do in Peniche is a day trip out to Berlenga Island! We haven’t done that yet because unfortunately Lilly isn’t able to go and we always have her with us – but it’s certainly on the list!

Parking And Camping Near Peniche

We parked our van here and found it easy enough to get to. There aren’t too many spaces though so in summer it’s somewhere you definitely want to get to early – or later if you want to avoid the day visitors and find a spot.

If by this point you’re wanting some paid camping, or need to plug in the ASA campsite in Peniche is €9,50 for electric hook up.

São Martinho do Porto

Often overlooked by tourists, this is one of those hidden beach towns of Portugal that locals know and love.

We’ve always found it less crowded than neighbouring seaside spots. The sheltered bay is perfect for a calm swim or paddle, and the lighthouse walk gives you uninterrupted views of the Atlantic coast which is absolutely beautiful, especially at sunset.

There’s no fencing along the cliff, so keep your dog close.

Other things to do around here include relaxing in one of the beach view cafes, surfing on the sand dunes, walking the boardwalk of the wetlands or even cycling to Nazare! 

This is one of the beach towns of Portugal that you will want to be careful not to end up in the one way roads because streets are narrow and it’ll be hard to turn around.

Parking And Camping Near São Martinho do Porto

There is street parking here that’s suitable for campervans, but be mindful that people live here so don’t overnight here, block roads or generally be a nuisance.

A more suitable option for summer is Parque de Campismo Baía Azul. This is a campsite right near the beach that has signs for paid parking, so you might be able to pay a small fee and park here for the day – this isn’t something we’ve done though.

⚠️ Park4Night does have a couple of listings closer to the water, but having driven it ourselves in a car… we’re not convinced that it would be a stress-free drive during the summer.

Nazaré

We’re a little biased on this one since we live here now, but it is one of the top places to see in Portugal, especially in the big wave season (October to March)

It also happens to be where Lilly had her first beach trip and discovered the absolute joy of digging. She was a sandy mess within minutes and totally obsessed.

The fort is also open to visitors for €2 if you want to see the lighthouse up close and learn a bit more about the surfers who take on these giants. It’s also a great place to watch the surfing competition.

The spa in town is a good shout if you need a break from van life, or you can simply stroll along the beach front and explore Nazare’s history with the beach front museum.

If you’re travelling with a dog, keep in mind that the main beach doesn’t allow pets in summer, but Praia do Norte is dog friendly year-round.

Parking And Camping In Nazaré

There’s loads of parking near the bus station that can fit larger vehicles comfortably and is ok for one to two nights camping. We actually have a free downloadable map of the best places to park in Nazare that you can get here.

Avoid driving much further into town, it’s easy to take a wrong turn and end up on a tiny narrow cobbled road.

From Nazare you’re going to drive up the Atlantic Coast Road that has tons of beautiful seaside towns, walking trails and little hidden gems. Thankfully this road is perfect for larger vehicles, and there are plenty of places to pull in along the way if something catches your attention.

We’re going to shine a light on one of our favourite places along this stretch though and that’s Sao Pedro De Moel.

São Pedro De Moel

This is one of those places that doesn’t try too hard, and that’s exactly why we like it – even if the cobbled road annoys us every time we drive on it haha (don’t worry, it’s plenty wide enough).

São Pedro De Moel is a small coastal town with a more local feel, and we’ve had a few lovely low-key stops here while heading north.

If you hit it on a stormy day, you’re in for a treat. The waves crash dramatically against the rocks, making for a moody, windswept walk near the lighthouse.

The town itself is relaxed and ideal for a quick bite or leg stretch. There’s a cliff walk, a cute little beach, and a few cafés where you can just sit and watch the Atlantic do its thing.

Parking is fine for vans, and it’s never felt too crowded, even in peak season.

Worth the stop if you’re after something quieter and less polished than the bigger towns along the Portugal coastline.

Parking And Camping Around São Pedro De Moel

There’s plenty of large parking here if you want something close to town. There’s a dump station as well as public toilets and beach showers not far from here.

If you want to visit the lighthouse or go to one of the other beaches, you can park here and walk down.

We’re going to shine a light on one of our favourite places along this stretch though and that’s Sao Pedro De Moel.

Figueira da Foz

We visited Figueira da Foz when we lived a little bit further North than we do now. It’s a great seaside town and a great addition to your West Coast itinerary.

The beach is ridiculously wide, great for dogs, kids, or anyone who just wants a proper sandy sprawl.

If you don’t want another beach day, head into town and check out Sotto Maior Palace which looks absolutely stunning on the inside (we’ve always had Lilly with us so haven’t been in yet), or Forte de Santa Catarina. 

There’s also several green spaces, like Parque das Abadias, if you want to escape the heat for a little bit.

Lilly was especially into this stop because of the fishy smell along the docks. She was doing her little tippy-tappy dance with excitement, which is usually her sign that something smells very interesting (or edible).

The town was quieter when we visited in the off-season, with some cafés closed, but it still had a nice vibe and enough open spots to grab a coffee or pastry.

If you’re passing through, it’s a chill place to pause for a few hours or even overnight.

Parking And Camping in Figueira da Foz

This paid parking is the best option for campervans and motorhomes. It has some fees depending on when you’re visiting (€0.80/h, max €8. Mon-Fri 8am-6pm, Saturday 8am-12pm. There are no parking fees from Saturday lunchtime 12pm to Monday morning 8am) but it’s ok for an overnight stay and is close to most things to do in town.

Otherwise there’s paid parking here or, a free car park on the other side of town with bigger spaces here.

Aveiro

This isn’t technically a seaside town, but it’s close enough.

Set on a lagoon with those iconic gondola-style boats cruising through its canals -there’s a reason it’s called the venice of Portugal – Aveiro is colourful, tiled, and feels very different from the cliffside stops earlier in the route.

It’s also one of the only places in Portugal we’ve found that offers dog-friendly boat tours (on our list, but we haven’t taken Lilly yet).

The city center gets busy, especially on weekends, so we recommend planning your parking in advance if you’re in a van.

It’s more of a wander-and-snack sort of place, where you’ll want to explore the historic streets, grab a box of Ovos Moles (the local sweet).

Or, if you fancy something a little quieter you can head out to Aveiro lagoon where you have a good chance of spotting wild flamingos!

Parking And Camping in Aveiro & The Lagoon

Smaller cars won’t have an issue in Aveiro because there’s plenty of underground parking.

However, campervans will want to aim for this free car park near the ceramics factory, or here on the other side. Both are OK for an overnight and plenty big enough for longer campers.

The roads aren’t too bad around Aveiro, so if you have to drive around for a bit to find space it’s not the end of the world but usually there’s plenty of space in these two spots.

For Aveiro lagoon, we drove all the way down and parked here for the day but I’m sure an overnight would probably be ok too. Along the way, you’ll pass through a couple of cute towns and a few alternative spots to park so keep your eyes peeled.

Praia Do Senhor da Pedra

This is maybe one of the most beautiful places on the West Coast from a photographer’s point of view, especially at sunset!

Only 15 minutes from Porto, this marks the end of your Portugal West Coast road trip, but don’t rush off to Porto without stopping to explore!

Originally a Pagan temple, Capela do Senhora is a unique chapel perched right on the edge of the high tide line which creates beautiful photo opportunities at sunset. 

Take a long walk up the beach, stroll up the boardwalk that takes you right up the coast or, sit back and enjoy some lunch at one of the several cafes.

Parking And Camping at Praia Do Senhor da Pedra

We tend to park and camp on the dirt track next to this car park. The car park itself is fine too, but we like to park out of the way if we can rather than take up a couple of spaces (or more in some cases!)

⚠️There’s a low bridge here which is marked at 3.5m. We manage in ours with AirMaxx fans as added height. Do not trust google maps when it says the level crossing here is open – it’s not. 

Common Questions Answered

How do you get around the Portugal west coast?

The easiest and most flexible way is by car or campervan. A rental car is fine for most travellers, but if you’re road tripping in a camper (like we do), just be aware of vehicle height/width limits in smaller villages.

Use Google maps with terrain view, and stick to the national roads where possible. Apps can be helpful, but they’re not always reliable for van-specific routing… even the ones that allow you to put your dimensions in.

Why drive Portugal’s West Coast instead of using public transport?

Having your own vehicle gives you full control over your pace and stops, especially important on a coastline that rewards spontaneity.

While trains and buses can get you to the bigger towns, they often skip the smaller beach spots, remote viewpoints, and cliff walks that make this stretch so special.

Plus, public transport in Portugal is known for being… let’s say, inconsistent. Driving means fewer missed connections and more unplanned gems.

Do you need to know Portuguese to drive here?

Not at all. Most road signs follow standard EU symbols, and while rural areas might not have English-speaking locals, you won’t need to talk much to get around. A few key phrases (like “entrada proibida” – Entrance Prohibited) help, but honestly, Google Translate does the heavy lifting if needed.

How long do you need for a west coast Portugal road trip?

We recommend 8–10 days to give yourself space to explore. You can do it in less time, but rushing kind of defeats the point.

Read our guide on how to plan a road trip in Portugal if you need help figuring out the smaller details of a trip.

What’s the best time to go?

Spring and early autumn (May–June or September–October) are ideal. If you’re chasing waves in Nazaré, late autumn through March is best. Winter works too, it’s quiet and moody in the best way.

Final Thoughts On This Coastal Route

That’s everything you need to plan a slow, scenic, and dog-approved road trip along the Portugal coastline. Whether you’re in a camper, a car, or just dreaming for now, we hope this helps you picture the journey and find some lesser-known magic along the way.

Tweak it to suit your pace, dodge the crowds, and if you hit the road let us know how it goes. There’s always something new to discover on the west coast of Portugal.