Imagine waking up by the sea, listening to the sound of the waves and breathing in the Atlantic breeze after driving through roads full of history and breathtaking landscapes. The best part is that you decide when to stop, where to sleep, and what to explore. That’s the magic of visiting Setúbal by motorhome from Madrid, a journey that combines freedom, nature, and Portuguese culture. But here’s a secret: if you do it right, you’ll want to repeat it every summer. Stay until the end because we’ll show you how to plan the perfect route, what to see, where to stay, and how to find the ideal motorhome for this adventure.

Why Choose Setúbal as Your Destination

Setúbal is a hidden gem on Portugal’s coast, less than an hour from Lisbon. Its charm lies in its authenticity: natural beaches, a lively harbor, an impressive natural park, and a gastronomy that will win you over. It’s the perfect destination for those seeking peace, sea, and nature without the crowds of other tourist spots.
Traveling from Madrid to Setúbal is not just a 650 km road trip—it’s an experience in itself: crossing the Alentejo region, discovering whitewashed villages, savoring local cuisine, and reaching an Atlantic coastline straight out of a postcard.

How to Plan Your Route from Madrid

You can make the journey in a single day, but it’s best enjoyed without rushing. Here’s a balanced route combining driving and discovery:

First Stop: Mérida

About 3 hours from Madrid, Mérida is a Roman treasure with its theater, amphitheater, and bridge over the Guadiana River. A great place for a cultural and culinary break.

Second Stop: Évora

After crossing into Portugal, Évora greets you with ancient walls, cobbled streets, and rich history. It’s a UNESCO World Heritage Site and has a convenient motorhome area near the city center.

Third Stop: Setúbal

From Évora, it’s about two more hours. Take secondary roads to enjoy Alentejo’s landscapes: vineyards, olive groves, and rural towns frozen in time.

Where to Stay in Setúbal with Your Motorhome

Portugal is very motorhome-friendly and offers plenty of options:

Motorhome areas: In central Setúbal, near the port, there are designated spots with basic services.
Campsites: One great choice is camping eco parque oitao, surrounded by nature, ideal for resting with shade, water, and electricity, and close to the beaches of the Arrábida Natural Park.
Apps: Use Park4Night or CamperContact to find safe and recommended overnight spots.

What to See and Do in Setúbal

Setúbal has a lot to offer. Here are the must-sees:

Arrábida Natural Park

A green paradise with cliffs, turquoise beaches, and scenic hiking trails. Some of Portugal’s most beautiful beaches are here:

Praia de Galápos: perfect for swimming.
Praia dos Coelhos: small and secluded.
Portinho da Arrábida: ideal for snorkeling and enjoying postcard views.
You can explore by bike or take nature trails through the park.

Ferry to the Tróia Peninsula

From Setúbal’s port, take a ferry to Tróia. You can bring your motorhome and explore miles of wild beaches, dunes, and sandy paths. A unique experience worth trying.

Livramento Market

One of Europe’s most beautiful markets, filled with fresh fish, fruits, vegetables, and traditional tiles. A great place to buy ingredients and cook in your motorhome.

Gastronomy

Try choco frito (fried cuttlefish), local wines, and the famous Moscatel de Setúbal. Dining by the sea in one of the local restaurants is unforgettable.

Tips for Traveling from Madrid

Plan your vehicle: If you don’t own one, look for a reliable motorhome rental in Madrid, caravan rental in Madrid, or camper rental in Madrid. Make sure it’s fully equipped and in good condition.
Prepare your route: Use Google Maps, Park4Night, and toll apps to plan stops and manage costs.
Documents: Portugal accepts Spanish driving licenses and European insurance.
Respect local laws: Wild camping is not allowed outside designated areas. Overnight parking is permitted in many spots, but don’t set up tables or awnings.
Fuel and tolls: You’ll find toll highways (A6 and A2) but also scenic alternatives on secondary roads.

Weather and Best Time to Travel

Setúbal has an Atlantic climate with mild summers and cooler temperatures than central Spain. The best time to go is from May to October. If you want sun, sea, and to escape Madrid’s heat, July and August are ideal.

Activities for All Interests

Nature: hiking, cycling, kayaking along the coast.
Culture: museums, churches, Palmela Castle.
Food: seafood, fresh fish, and traditional pastries.
Beaches: from popular ones to hidden coves.

Extended Route: Beyond Setúbal

If you have extra time, continue to Lisbon, Sintra, or Cascais, or head south toward the Algarve. You can also return via Portugal’s interior, stopping in Coimbra or Serra da Estrela.
And if this adventure inspires you, you can plan your next road trip north to Galicia with the same vehicle and travel spirit.

Estimated Budget

Fuel (round trip): €200
Tolls: €40–50
Camping eco parque oitao: from €20 per night
Food: €15–25 per person per day
Tróia Ferry: €25–30 depending on vehicle
It’s an affordable trip compared to other international destinations, with the advantage of bringing your home along.

Advantages of Traveling by Motorhome

Total freedom to choose your route.
Save on accommodation.
Stay close to nature.
Flexibility to discover hidden spots.
Traveling like this is more than moving—it’s living every kilometer at your own pace, with all the comforts by your side.

How to Choose the Perfect Vehicle

Your choice depends on how many people you travel with, your needs, and your budget. Couples will love a compact camper; families might prefer a larger motorhome; and for long stays in one spot, a caravan is ideal.
That’s why it’s important to work with a trusted company that can advise you and ensure safety, maintenance, and insurance.

Final Thoughts: A Journey You’ll Always Remember

Visiting Setúbal by motorhome from Madrid is a complete experience: culture, sea, food, and nature. You don’t need to be an expert traveler—just ready to explore and enjoy the freedom of the road. Portugal welcomes you with stunning landscapes, friendly locals, and perfect places to rest and adventure.
If you’re ready to start planning, contact Autocaravanas Camperdadi to choose your ideal vehicle. Call us at +34 91 082 06 32, email info@autocaravanascamperdadi.com, or send us a WhatsApp at +34 639 266 865. Your next great road trip begins with one click.