The superbly planned Vigevano is called an “ideal city” because of its beauty and layout. Famed for its Renaissance Piazza Ducale, edged by an enormous castle and cathedral, the city was the vision of patron Ludovico il Moro, who intended it to be a “second Milan”. Leonardo da Vinci stayed in Vigevano several times, noting its charm. It’s less than an hour from Milan.

Just an hour outside of London, Windsor Castle is the oldest and largest occupied castle in the world and one of the principal residences of King Charles and the Queen Consort Camilla. Visitors to Windsor Castle have the opportunity to wander through the grand rooms of the royal home where world leaders, including former US president Barack Obama and Canadian prime minister Justin Trudeau, were hosted by the Queen. Afterwards, visit St George's Chapel where Prince Harry married Meghan Markle in 2018.

Tours is a buzzy university city that’s known as the gateway to the enchanting Châteaux de la Loire, most notably the fairy-tale Château de Chambord. Its cute bistros, traditional brasseries and hip bars all serve the surrounding valley’s most famous export; its pedestrian-only centre is eminently walkable. It’s a two-and-a-half-hour drive from Paris.

This medieval city is 90 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 fantastic historical centre. The alluring narrow lanes are crowded with grey stone buildings and open out into charming piazzas. Its most famous monument is the Papal Palace, the seat of the Pope from 1257 to 1274.

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

For many visitors to England, their ideas of the country have been formed by one too many episodes of Midsomer Murders and Downton Abbey: stately homes, rolling green countryside and gossipy villages. And we’re here to tell you it’s all real (only slightly less murder-y), especially in the Cotswolds, an hour-and-a-half by train from London.

Prague is one of the world’s most spectacular cities – and it’s got masses of tourists on pub-crawls to prove it. Avoid the over-tourism by experiencing its attractions somewhere else! Enter picturesque Česky Krumlov. Two-and-a-half hour’s drive from Prague, it’s a dead ringer for the city’s Old Town, with Gothic architecture, a cobbled town square, a stunning castle and plenty of bars selling cheap beer and hearty food.

Lisbon’s recent elevation to the upper echelons on European capitals is well-deserved but if you visit Lisbon and don’t head over to Sintra, just 25 kilometres away, you’re missing out. The town in the foothills of the Sintra Mountains is a forested sanctuary where pretty pastel palaces and villas are overseen by the elaborate fairy-tale castle of Sintra National Palace.

Any fans of Gavin & Stacey will be familiar with Stacy’s beloved Barry. The island is a popular weekend getaway for Cardiff-dwellers thanks to its beaches, amusement park and the famous Boofy’s fish and chips – it’s just 20 kilometres from town.

Canals, culture, cafés – Amsterdam isn’t the only charming Dutch city. Utrecht, just 30 minutes away from the capital by train, is an attractive university town where there’s plenty happening, whether you’re seeking nightlife, great restaurants or quiet canal-side 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.

Little Leipzig has been touted as the new Berlin thanks to its booming art scene, hipster vibe and cheap rent. Visit the massive Spinnerei, a former cotton mill where artists who squatted there in the 1990s have carved out ateliers, hotels and cinemas. There are riverside parks to loll in, great restaurants for long lunches and picturesque canals to row in a canoe, two hours from Berlin.

About an hour south-east of Madrid by train is Cuenca, a Moorish city famous for its “hanging houses”: tall, narrow buildings balancing on the edge of a cliff high above the Huécar River. Its historic walled town has steep, cobbled streets that are a pleasure to wander, dotted 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 is often passed over in favour of the glittering Costa Brava nearby. But the walled Catalan city, spread over a hillside about an hour and 20 minutes north of Barcelona, deserves more time. The old town’s labyrinthine streets curl around a variety of architectural styles, representing a millennia of history and culture. Take a photo from the footbridge spanning the Rover Onyar – you won’t want to forget the view.

Give Venice a break and head to Padua, 30 minutes away by train. It lacks canals but the city makes up for it with the lovely River Bacchiglione; pretty piazzas surrounded by cafés and bars; the Padua University established in 1222; and the Giotto frescoes in the Scrovegni Chapel. Reflect on the city’s glories over espresso at Caffe Pedrocchi, where Padua intellectuals have gathered since 1841.

Though it’s a city of 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 it’s enjoying traditional folk music by a street performer or over a pint at one of the city’s brightly painted pubs. Named Europe’s Capital of Culture for 2020, Galway has great art, food and theatre, just over two hours’ drive from Dublin.

Bruges, just 10 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 has canals, medieval architecture and cute cobbled streets like Bruges, but lacks crowds. It’s a laidback town that’s gained a reputation as a literary centre, with lots of bookshops and book fairs.

You may not have heard of Bursa but it was once the capital of the Ottoman Empire – and has some of the best-preserved Ottoman-era architecture to prove it. The intricately carved Ulu Cami mosque was built in 1399; 10 kilometres out of town is Cumalıkızık, an Ottoman-era town of cobblestone streets dotted with 270 still-inhabited houses. Take a ferry from Istanbul – the journey is less than two hours.

If you’re intrigued by Edinburgh Castle, you’ll love Stirling Castle, which sits right in the centre of Stirling’s old town. The city was once the capital so its castle has seen some action: in 1452, the 8th Earl of Douglas was ruthlessly stabbed then defenestrated by King James II. Other historical must-sees are the 12th century Church of the Holy Rude and Argyll’s Lodging, a 17th century townhouse with period furniture. Stirling is about 60 kilometres from Edinburgh.

One of the prettiest small cities in Austria, Melk is most famous for its massive baroque Benedictine monastery, Melk Abbey. The city on the banks of the Danube has a quaint old town, a castle that holds Christmas markets in its courtyards, and trains depart regularly from Vienna – the trip takes about an hour.