“Huge, complicated, fascinating. Get a guide if you can afford it.”
The visit to the Castelo also includes the Convent of the Order of Christ. It was the world headquarters of the Knights Templar, and later the Order of Christ. It was also where Henry the Navigator lived for many years. It's huge, rambling over several stories and not very well signed inside. Entry is fairly cheap, 6 euros, and well worth it. You could easily spend a day there. If you have a bit more money available, try and get a guided tour. We used Templar Knights http://www.templarknights.eu/tours/ Failing that, a good guide book is essential if you don't want to spend your time wandering about wondering what it all means.
It's not really wheelchair / baby buggy friendly. Getting into the Castelo and looking around the grounds is OK, but the interior has a lot of steps, including narrow spiral staircases in places.
The cafe is worth a visit. Prices are similar to most of the cafes in the town, so it won't break your budget.
This review is the subjective opinion of a TripAdvisor member and not of TripAdvisor LLC.