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Returning to the Estadio Municipal da Bela Vista - site of last week's draw with Porto - the Giallorossi came from behind to secure victory, as Jose Mourinho put his charges through a bit of sweltering midday preparation.
The game wrapped up the side's fixtures in Portugal; the side fly to Seville later in the week for Saturday's game against Real Betis before returning home after that.
The other game of this leg of pre-season saw the side draw 0-0 with Sevilla in Faro.
In a rare mid-morning kick-off, Roma were somewhat slow out of the blocks - going behind early on as Alioune Ndour tapped home from close range.
Even before that goal Roma's greater class was in evidence, however, and the side soon made that clear on the scoreline too - as Edin Dzeko steered home from Rick Karsdorp's cross to equalise before the break.
And after the interval the side moved clear of their opponents, as first Nicolo Zaniolo took advantage of a defensive mix-up to score efficiently, before Mayoral wrapped up the scoring five minutes from time after good work from Henrikh Mkhitaryan.
With another two days of training still to go on the Algarve, Mourinho will continue to put his side to work as the new campaign fast approaches.
ROMA 3-1 BELENENSES SAD
Scorers: Dzeko, Zaniolo, Mayoral; Ndour
Roma starting XI: Rui Patricio (Fuzato), Karsdorp (Reynolds), Smalling (Kumbulla), Mancini (Ibanez), Tripi (Calafiori); Bove (Diawara), Darboe (Mkhitaryan); Perez (Zaniolo), Pellegrini (Ciervo), El Shaarawy (Zalewski), Dzeko (Mayoral).
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