The Castle of Sesimbra stands on a steep ridge about a kilometre and a half above the town, with views down to the harbour and along the Arrábida coast in both directions. The original fortifications are Moorish — eighth or ninth century — but the long stone curtain wall, the towers, and the inner keep were built by the Templars and rebuilt by successive Portuguese kings into the sixteenth century.
Inside the walls stand the original parish church of Santa Maria do Castelo (twelfth century, restored), an old cemetery, the remains of a Roman cistern, and a small interpretation centre. The grounds are free to enter and the walk around the walls takes about an hour. Bring water and a hat in summer — there is no shade. The drive up is steep; on foot, a marked trail climbs from the town in about 45 minutes.