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.

Situated on the southern bank of the Seine estuary, Honfleur was once one of France’s most important ports. It was also a favourite location of Monet and the Impressionists, and art lovers may well recognise the elegant Renaissance architecture of the old harbour, the Vieux Bassin.

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.

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.

The naval port of Brest is situated on a fine natural harbour, a bustling city that was rebuilt after extensive damage from Allied air attacks during World War II. Enjoy excellent seafood and local Breton dishes, learn about the city’s maritime history at the Musée de la Marine, or visit Océanopolis, one of France’s largest aquariums.

Bordeaux sits at the centre of the world's most famous wine region, and is home to a beguiling blend of beautiful buildings, sophisticated gastronomy and high culture. It's a marvellous place to spend some time, whether it's a day sampling wines, an evening at the opera or a night on the tiles.

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.

The Galician city of Ferrol, birthplace of General Franco, doesn’t feature on too many tourist itineraries, though maritime enthusiasts may enjoy a visit to the 18th-century shipyards. Most cruise visitors will use Ferrol as a base to explore Galicia’s wild coast, the nearby city of La Coruña or the famous pilgrimage site of Santiago de Compostela.

Spread across steep hillsides that overlook the Rio Tejo, Lisbon’s colourful cityscape includes Gothic cathedrals, majestic monasteries and quaint museums. But for many the best times will be had wandering the narrow lanes of Lisbon’s lovely backstreets, with their great local food, wine and music.

Seville is a wonderful destination, a sophisticated and sun-kissed city on the banks of the Guadalquivir river. It’s a treat for all the senses, from the smell of orange blossom to the heart-tugging sounds of flamenco, and the highlight of the calendar is undoubtedly Semana Santa, when a spectacular Easter parade fills the streets.

Sovereignty of ‘The Rock’ has been a thorny issue ever since Gibraltar was ceded to Britain in 1713, though on the ground it’s clear where most locals’ sympathies lie. Gibraltar is often described as ‘more British than Britain’, a curious enclave of red postboxes, double decker buses and chip shops.

Málaga boasts plenty of chic restaurants and bars where you can ease into the rhythms of life in southern Spain, before exploring sights including the intriguing, unfinished Gothic cathedral, and a museum devoted to the city's most famous son, Pablo Picasso.

Cartagena was founded by the Carthaginians around 227 BC, who named it after their home city in North Africa. These days the city is best known for its well-preserved Roman theatre, which was remarkably only discovered in 1987, in spite of its location in the centre of town.

Spain’s third city is a dazzling destination that combines historic architecture, cutting edge design and an inviting stretch of beach. Don’t miss the futuristic City of Arts and Sciences, designed by local architect Santiago Calatrava, or the old riverbed, now a delightful park.

From the warren-like medieval streets of the Barri Gòtic to the fantastical modernist architecture of Antoni Gaudí, from the dizzy heights of Mount Tibidabo to the golden sands of Barceloneta, there’s never a dull moment in Barcelona.

Ever since Brigitte Bardot put Saint Tropez on the map with the seminal ‘And God Created Woman’ in 1956, this diminutive fishing village on the French Riviera has been a magnet for the international glitterati.

Nice enjoys a marvellous setting on one of the most glorious stretches of the Côte d’Azur, the sweeping Bay of Angels, so it’s no wonder that tourists have been flocking here since the 19th century.

Toulon is not the sort of place you would expect to find on the Côte d’Azur, a gritty port city that’s home to France’s most important naval base. It’s not completely without charm, however, and for some travellers it may come as a breath of fresh air after the glitz of the Riviera. For the best view, take the cable car to the top of Le Faron mountain.