Blessed with a dramatic setting on the steep banks of the river Douro, Portugal’s second city is currently enjoying something of a renaissance, and is best known as the home of the country’s most famous export, port wine.

It’s not so long ago that Bilbao was a grim and unappealing place, scarred by heavy industry, but the Basque Country’s biggest city has reinvented itself as a cultural hub since the opening of the shimmering Guggenheim Museum in 1997.

Saint-Malo grew rich off the back of maritime trade and its plundering corsairs, a seafaring heritage that is still proudly on display today. It’s great fun getting lost in the streets of the walled old town, and the famous medieval abbey of Mont Saint-Michel is an easy day-trip.

An important naval base and major commercial port, Cherbourg is the gateway to the many attractions of Normandy, including the Bayeux Tapestry and the beaches where the D-Day landings took place. Cherbourg’s excellent Cité de la Mer maritime museum is also well worth a visit.

Rouen has endured a turbulent history: it was here that Joan of Arc was burnt at the stake in 1431, and much of the city was destroyed during World War II. Many cruise visitors head straight for Paris, an hour away by train, which is a shame since there’s so much to see in Rouen, including a beautiful cathedral and the atmospheric Medieval quarter.

Zeebrugge’s main attraction is its proximity to Bruges. This beautifully preserved old town is a magical maze of winding cobbled lanes, narrow canals and gorgeous gabled houses, and it’s no wonder so many visitors throng the streets in summer.

Amsterdam is one of our very favourite cities to visit, as well as also being a perfect base to explore the nearby landscape of windmills and dikes. There is a wealth of famous museums and galleries to choose from, such as the Van Gogh Museum, the Rijksmuseum and the Anne Frank House.

Known locally as ‘the gateway to the world’, the port of Hamburg has a rich maritime history. Of course the city has its seedy side, as characterised by the old red light district around the Reeperbahn, but it’s also a vibrant, progressive city with some excellent museums, galleries and theatres.

The former Hanseatic port of Wismar is one of the Baltic’s lesser known gems. The town was under Swedish control for most of the 16th and 17th centuries, and there are still many reminders of this period as you stroll around the pretty UNESCO-listed old town, with its cobbled streets and gabled facades.

The ruggedly handsome island of Bornholm lies way out in the Baltic, closer to Sweden and Poland than the Danish mainland. It’s the sunniest place in Denmark, known for its intriguing rundekirke (round churches), sleepy fishing villages, traditional smokehouses and fantastic foodie scene.

The Baltic port of Gdansk occupies an important place in 20th century history; the first shots of World War II were fired at the Westerplatte naval base, and it was amongst the shipyards of Gdansk that the Solidarity movement was born in the 1980s.

The historic harbour city of Tallinn in Estonia is really quite captivating. Just the perfect size to explore on foot, its medieval (and UNESCO listed) town centre, with its cobblestone streets and a busy Town Hall Square, is the perfect introduction to Estonia’s rich history.

Finland’s lovely capital Helsinki is a maritime city, with the sea on three sides and almost 100 kilometres of shoreline, as well as around 300 islands. Its contemporary architecture and focus on modern design sit surprisingly well alongside its four hundred year history.

Mariehamn is the capital of the Åland Islands, a Swedish-speaking archipelago that actually belongs to Finland, situated halfway between Stockholm and Helsinki. The gentle pace of island life and the unique blend of Finnish, Swedish and Russian culture makes this an intriguing place to spend some time.