By Car Nazaré is only just over 1 hour from Lisbon.
The nearest railway station is Valado dos Frades, 4km from Nazaré . However, by train one has to take the Linha do Oeste from Lisbon Entrecampos via Cacem and Caldas da Rainha.
Transit time is between 3hours and 3 hours 30min. This is not really ideal for a day trip as you would then need to get a taxi or bus to Nazaré..
There are 4 or 5 long distance coaches operate between Lisbon Sete Rios Coach Station and Nazaré daily by Rede Expressos.
Unfortunately, I cannot supply detailed times for the service as the Rede Expressos website, despite requests, only works in Internet Explorer and I do not recommend, support nor work with web-sites that are not cross-browser compatible.
Postscript: I am grateful to Cubsur who has advised that the Rede Expressos website can now be viewed in browsers other than Internet Explorer - One just needs to ignore the "View only Messages."
Firefox 2.0 has no problem viewing the site at: http://www.rede-expressos.pt