We walked into Cascais from Estoril a couple of times, the walk was only about 30 minutes and it was a lovely walk along the promenade.
Historically Cascais was a small fishing port but this was transformed when King Fernando II proclaimed Cascais as his preferred location for his summer retreat.
I actually liked the atmosphere of Cascais more than Estoril, not that I didn’t like Estoril I did, the beaches were better in Estoril, I just liked the town more in Cascais.
Cascais is really pretty with it’s mosaic pavements, it has good shopping streets and lots of restaurants to choose from.
We would probably stay in Cascais on our next trip to Lisbon and definitely try one of their asian fusion restaurants.