During the voyage, he participated in various battles, visited shrines, and rendered diplomatic services for Juan II of Castile.
He visited the Moroccan coast, southern France, the Holy Land, Egypt, Rhodes, Cyprus, Tenedos, Trebizond, Caffa, and Constantinople.
He also visited the Sinai Peninsula, where he met Niccolò Da Conti, who shared with Tafur information about southeastern Asia.
Born between 1453 and 1454, to judge from interior evidence in the single surviving manuscript, he wrote a book called Andanças e viajes de Pero Tafur por diversas partes del mundo avidos (Avid Adventures and Travels of Pero Tafur to Various Parts of the World).
This work is one of the few books written by a Spanish traveler during the medieval period (that of Ruy González de Clavijo is another example).