Aveyro made his pilgrimage to the Holy Land in 1563, travelling from Venice via Greece and Cyprus. Little is known of him except that he was a member of the Franciscan Order. According to Tobler, he owed much of his information to a fellow monk, Bonifacio Stefani, who may have accompanied him on the pilgrimage.
Itinerario Da Terra Santa, E suas particularidades Composto Por Frey Pantaleam D’ Aveyro Offerecido A Jesu Crucificado. Lisboa Occidental, Na Officina de Antonio Pedrozo Galram. Com todas as licenças necessarias. Anno de 1721.