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 lived for a couple of years), and beyond.

Think rugged cliffs, quiet beaches, and postcard-perfect villages: ideal for slow travel, dog-friendly road trips, 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, 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.

Stop 1: Ursa Beach And Cabo Da Rocha

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 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 to Ursa beach 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.

Cabo Da Roca lighthouse is mainland Europe’s most western point and extremely busy for a lot of the year.

We visited as part of a spring road trip and were really surprised by how many tour buses still visited throughout the day. As well as the lighthouse, there’s also a tourism office and a couple of cafes/restaurants that catered for the tourist crowds.

There are toilets available, but you have to buy something to get a ticket.

Parking Near Ursa Beach

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).

Campervans can park, and spend the night, at Cabo Da Rocha car park just be careful not to take up spaces that are marked for buses. From here you’ll have a roughly 40 minute walk to the beach via the absolutely beautiful cliff top track. Coach tours start arriving at 7am – even in off season – and the lighthouse gets busy fast.

Parking here is free but there are often ‘parking attendants’ who request money. These are not official. 

Where To Stay Near Ursa Beach

For motorhomes and campervans, the car parks at Cabo Da Rocha were ok for a one night stay when we visited.

The closest accommodation to Ursa Beach is in the small village of Azóia and the surrounding areas which is roughly a 10 minute drive from the beach. Having done this trip in our campervan, we can’t personally but you can use the map below to see availability. Don’t forget to check their parking availability. 

Stop 2: 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 In Ericeira

A lot of the beach front car parks have height restrictions, so if you’re in a tall campervan or motorhome you’ll want to plan this in advance.

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.

Where To Stay In Ericeira

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.

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. Luckily there are a couple of ASA camping areas which are free/cheap designated areas for overnight parking provided by the municipality. You can find them here, and here (they’re also marked on the West Coast Road Trip Map at the top of the post)

There are paid campsites if you’d like something with more availability but during our research we found them to have poor reviews across Google and Park4Night so we don’t feel comfortable recommending them here.

For hotels or B+B’s, again we have no personal recommendations because we visited Ericeira as a day trip. Below is a map of the availability, you can zoom and move it around to see what’s there.

Stop 3: 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!

Parking In Peniche

We parked our van here and found it easy enough to get to.

If you drive the circular road that takes you all the way around the peninsula that Penich sits on, there are a lot of great places to park if you’re wanting to explore other beaches. 

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.

Where To Stay In Peniche

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.

Like in many of the popular coastal towns, free overnight parking is tricky. There are several unmarked locations along the circular road but you will need to look for any new ‘no overnight’ parking signs. We wouldn’t attempt in the summer.

Peniche isn’t short of great hotels and boutique stays. Use the map below to find what you’re looking for – results might take a moment to load

Stop 4: 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 In São Martinho do Porto

We’ve always found parking at São Martinho do Porto a bit tricky in the campervan, so we tend to save our visits for when family come to visit and we have a smaller hire car but there are a few options.

If you have a smaller car, you can take advantage of the street parking along here but they’re not long enough for campervans.

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.

Another car park is located at the dunes side of town (here) but it has a sign for no motorhomes. You might be ok for day time parking in a self converted campervan provided you only park and don’t get any tables/chairs out.

Then the last resort would be Parque de Campismo Baía Azul which has day time parking options at the front of the campsite. Prices aren’t advertised though.

Where To Stay In São Martinho do Porto

Your main option for camping in São Martinho do Porto is going to be the paid campsite:  Parque de Campismo Baía Azul. Winter prices sit around €24, and in our experience summer prices for much of the coast can rise to around €50 a night. 

You’re not short on guest houses and hotels here either, with many of them having beach views or easy access to the beach! Zoom and drag the map to check availability – you will need to check parking here though, many that we saw didn’t seem to have on-site parking.

Stop 5: Nazaré

We’re a little biased on this one since we lived here for a couple of years, 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 has been totally obsessed since (she literally starts crying in the van as soon as she gets a whiff of sea air)

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 In Nazaré

Nazaré is a town with seemingly heaps of parking, until summer comes around and then they start to fill up fast!

If you’re in a campervan or motorhome, the beach front parking has height barriers but there are other options that are slightly more hidden. We put together a free downloadable map of the best places to park in Nazare that you can get here.

But for a quick run down of some of the easiest ones, there’s loads of parking near the bus station that can fit larger vehicles comfortably and this one here is tucked far enough away from town that it’s not easy to just stumble on unless you know it’s there.

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

Where To Stay In Nazaré

There are so many great hotel options in Nazaré but one of our favourites is Hotel Miramar Sul. We stayed here for about 5 nights during our very first visit to Nazaré, and have recommended it to everyone since then. The rooms are super comfortable, breakfast is great, and their winter deals make it in line with budget accommodation in the area!

It’s a little bit further out of town (45 minute walk, 5 minute drive) but they do put shuttles on when the hotel is busier, and the municipality is in the process of building a new Funicular that will cut that walk time down to a fraction. If you want something closer to town, you’re not short on options, check out the map below!

For camping in Nazaré, the two free parking spots away from the beach front are also ok for overnighting. If you want paid camping, there are two options but we’d probably recommend Orbitur Valado because we’ve mostly only heard bad things about the ‘glamping’ holiday park.

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.

Stop 6: 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.

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

Parking In São Pedro De Moel

The roads around here, and most of the parking, is totally fine for campervans and motorhomes.

There’s plenty of large parking here if you want something close to town, as well as 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.

Where To Stay In São Pedro De Moel

Going up this stretch of coast, you’ll need to be really careful because a lot of overnight parking is restricted here, even if there aren’t signs, so we would recommend paid camping along here or heading inland a little bit and parking in the woodlands.

We’ve spent a couple of nights in Parque Campismo de São Pedro Moel and can’t fault it. The facilities are a little dated, and the pitches are very sandy but the staff are friendly and it’s a little cheaper than the one closer to town, although prices do peak during summer.

For accommodation, we don’t have any personal recommendations yet unfortunately so here’s a map!

Stop 7: Figueira da Foz

We visited Figueira da Foz when we lived in Northern Central Portugal for a year. 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 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) 

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

Where To Stay In Figueira da Foz

Part of the carpark we mentioned before is ok for an overnight stop as long as you’re parking in the designated area here. Outside of that, they can fine you and most likely will during summer.

For paid camping with facilities, there’s Parque Municipal de Campismo da Figueira da Foz which also has huts available.

Stop 8: 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 centre 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 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.

Where To Stay In Aveiro

We go back to Aveiro time and time again, and before we got our campervan (or Lilly) we always stayed at Hotel Jardim, which is only a 10 minute walk from the centre of Aveiro and has plenty of parking for cars.

The designated free parking for motorhomes is located here, and there’s plenty of space so I can’t imagine it being an issue in the summer.

Stop 9: 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 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!)

Each time we’ve been, there’s been a homeless man living in a tent next to the car park. Lots of reviews stated this was an issue for them and they chose to park elsewhere but after observing locals bringing him food and clothing we haven’t been put off by his presence at all. There are also a few cameras on nearby shops so we felt pretty safe. If anything, he’s probably helping to monitor the car park.

Where To Stay At Praia Do Senhor da Pedra

The car park mentioned above is ok for an overnight stay, for accommodation we’d actually say to keep driving and stay somewhere closer to Porto. Especially if you plan to spend a day there before you fly back.

Ready For 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.