This stunning walk, only a 5 minute drive from Casa Luessa, is highly recommended for people who are reasonably fit due to the rough terrain. The effort is well worth it as the views are spectacular as can be seen below. Duration from Benagil to Marinha is ~ 40 mins.
This walk is not recommended for young children as you can access the edges of the cliffs quite easily.
A different perspective of the same area of coast can be accessed by boat from the beach at Carvoeiro. The cost is ~ 20 euro for a duration of about 60 minutes and again is well worth the money.