International tourists tend to hop on a ferry and head way out to the Cyclades to visit islands such as Santorini, Paros and Mykonos – but Athenians know better. Just over an hour offshore is Hydra, its horseshoe-shaped port surrounded by 18th-century mariners’ mansions. Donkeys transport suitcases to hotels in the absence of cars.

The superbly planned Vigevano is called an “ideal city” because of its beauty and layout.  Less than a one-hour drive from Milan, the town is known for its Renaissance-era Piazza Ducale. Framed by an enormous castle and cathedral, this square was the vision of Duke Ludovico Sforza, a patron of Leonardo da Vinci – who once lived in Vigevano and noted its charm. The Leonardiana, a museum housed within the castle complex, is dedicated to the Italian artist.

Just 45 minutes west of London, Windsor Castle is the oldest and largest occupied castle in the world and one of the principal residences of King Charles and Queen Camilla. Visitors have the opportunity to wander the grand rooms of this royal home, where the late Queen Elizabeth II hosted former world leaders such as Barack Obama and Justin Trudeau. Afterwards, visit nearby St George’s Chapel, which hosted the nuptials of Prince Harry and Meghan Markle in 2018.

Tours, about an hour and 15 minutes from Paris, is the gateway to the enchanting châteaux (castles) of the Loire – most notably, the fairytale-like Château de Chambord. The buzzy university town’s cute bistros, traditional brasseries and hip bars all serve the surrounding valley’s most famous export and its pedestrian-only centre is highly walkable.

This medieval city is 80 kilometres from Rome and once rivalled the capital for prominence. Its history dates back to the Etruscans and by the Middle Ages it had become an important hub, as evidenced by its well-preserved Old Town. Here, alluring narrow lanes crowded with stone buildings open onto charming piazzas. Viterbo’s most famous monument, the Palace of the Popes, was the residence of the papacy from 1257 to 1281.

If your idea of rural England – stately homes, rolling green countryside and quaint villages – has been informed by one too many episodes of Midsomer Murders or Downton Abbey, we’re here to tell you it’s all real (minus the crime and gossip). And few places are more bucolically scenic than the Cotswolds, about a 75-minute train ride from London.

Prague is one of the world’s most spectacular cities – with masses of pub-crawling tourists to prove it. Cue picturesque Český Krumlov, about a two-hour drive from Prague: it’s a dead ringer for the capital’s historic centre, complete with Gothic architecture, a cobblestoned town square, elaborate castle and plenty of bars selling cheap beer and hearty food.

Lisbon’s recent elevation to the upper echelons of European capitals is well deserved but if you visit this city and don’t head 30 kilometres north-west to Sintra – about a half-hour drive away – you’re missing out. Set against the backdrop of the Sintra Mountains, the UNESCO World Heritage-listed town is a forested sanctuary where pretty pastel palaces and hilltop villas share the stunning landscape with the centuries-old National Palace of Sintra.

Canals, culture, cafés – Amsterdam isn’t the only charming Dutch city. Just a 30-minute train journey from the capital, Utrecht is an attractive university town where there’s plenty happening, whether you’re seeking night-life, great restaurants or quiet canalside strolls.

A microcosm of Denmark, Samsø is a 114-square-kilometre island with a hugely varied landscape: glacial gorges, deep valleys, fertile farmland, moors and rocky beaches. There are 22 quaint villages and, because it’s Denmark, everything is easily reachable by bike. There’s a direct train link from Copenhagen a couple of times a week, otherwise it’s about three hours drive.

Touted as the “new Berlin” – thanks to its booming art scene, hipster vibe and affordable rent – little Leipzig is a two-hour drive south of Berlin and boasts riverside parks to loll in, Michelin-recognised restaurants for long lunches and picture-perfect canals to row along.

Visit the huge Spinnerei (Leipzig Cotton Spinning Mill), a former cotton mill where artists who squatted there in the 1990s have carved out some 100 studios, including jewellery, fashion and photography. There’s also a cinema, eateries, and accommodation if you want to extend your stay.

A 1.5-hour train ride south-east of Madrid, UNESCO World Heritage-listed Cuenca is a Moorish city renowned for its “hanging houses”: tall, narrow buildings that balance on the edge of a cliff high above the Huécar River. Its historic fortress town has steep cobblestoned streets that are a pleasure to wander, dotted as they are with boutiques and restaurants.

Founded in 980, Sigtuna is Sweden’s oldest town, a treasure trove of archaeological treasures, Viking-age runes and Medieval ruins. Its picturesque downtown area has brightly painted 17th century wooden houses, the Båthuset Krog och Bar (a floating restaurant and bar near the harbour), and three intriguing ruined churches dating to the 12th century. It’s about 40 minutes’ drive from Stockholm.

Girona, about a 70-minute drive north of Barcelona, is often passed over in favour of the glittering Costa Brava nearby. But this walled Catalan city, spread over a hillside, deserves more time. The Old Town’s labyrinthine streets curl around a variety of architectural styles, representing a millennia of history and culture. Snap a photo from the footbridge spanning the Onyar River – you won’t want to forget the view.

Give Venice a break and take the 30-minute train trip to Padua instead. It may lack canals but this northern Italian city – home of the University of Padua (established in 1222) – more than makes up for them with its lovely Bacchiglione River, pretty piazzas surrounded by cafés and bars, and the Scrovegni Chapel’s Giotto frescoes. Reflect on the city’s glories over espresso at chic Caffè Pedrocchi, where intellectuals have gathered since 1831.

Although it’s a city of some 80,000 people, Galway feels like a quaint Irish town where the locals all know each other. You’ll get to know them, too, whether you’re enjoying traditional folk music by a street performer or over a pint at one of the city’s colourful pubs. Named the European Capital of Culture in 2020, this harbour city – just over a two-hour drive west of Dublin – offers great art, food and theatre.

Bruges, just 15 minutes’ drive from Damme, is an excellent small city in its own right but the capital of West Flanders is hardly a secret. Its neighbour, on the other hand, has canals, medieval architecture and cute cobblestoned streets, too – minus the crowds. Laid-back Damme has also gained a reputation as a literary centre, with plenty of bookshops and book fairs.

Never heard of Bursa? Recognised by UNESCO as the birthplace of the Ottoman Empire, this enchanting city has some of the country’s best-preserved architecture to prove it. The intricately carved Ulu Cami mosque was built between 1396 and 1399; while tiny Cumalıkızık, about 10 kilometres out of town, is an Ottoman-era village dotted with 270 historical houses (180 of them are still inhabited). Take a ferry from Istanbul – the journey is less than two hours.

If you’re fascinated by Edinburgh Castle, you’ll love Stirling Castle, which stands sentry in the centre of the Old Town. Stirling was once the Scottish capital so its castle has seen some action: in 1452, for example, the 8th Earl of Douglas was ruthlessly stabbed then defenestrated by King James II. The medieval Church of the Holy Rude is another historical must-see and all just a 50-minute car or train trip from Edinburgh.

One of the prettiest small cities in Austria, Melk is most famous for its grandiose Baroque-style Benedictine monastery, Melk Abbey. This city on the banks of the River Danube has a quaint Old Town – designated a UNESCO World Heritage Site – and a castle, Dürnstein, that hosts festive Christmas markets within its courtyards. Trains depart regularly from Vienna – the trip takes just over an hour.