A short walk down the road from the palace is the entrance to the Moorish Castle grounds. We eagerly paid for our ticket and proceeded into the castle walls. But oh my goodness, stairs everywhere. After quite a slog we made it to the highest section. The views from the battlements out to the Atlantic ocean were incredible. I was particularly excited to get a nice photographic view of the Pena Palace, which is not really possible other than with a drone.