Bratislava, Slovakia’s quaint little capital, straddles the Danube close to the border with Austria and Hungary. The compact old town is the best place to begin your exploration, before heading up to the hilltop castle for commanding views of the city and surrounding countryside.

Formerly the centre of the Habsburg Empire, Vienna is as grand a European capital as you can imagine, jam packed full of thrusting, bombastic buildings that stand as a reminder of Austria’s glorious imperial heyday.

One of the prettiest towns in Austria’s Wachau Valley, little Dürnstein charms visitors with its handsome 16th century architecture. Richard the Lionheart was once imprisoned in the castle that sits on the hillside above the town, and the region is also famous for its wine.

The riverside village of Melk is best known for its spectacular abbey, a Baroque masterpiece that dominates the landscape. A Benedictine abbey was first established here in 1089, and the 18th century reconstruction that you can see today is still a working monastery.

The pretty Bavarian town of Passau, situated close to Germany’s border with Austria, enjoys a unique setting at the confluence of three rivers: the Inn, the Ilz and the Danube. The narrow cobbled streets of the handsome old town, the Altstadt, are quite delightful.

Originally founded by the Celts and later an important Roman settlement, Regensburg is one of Bavaria’s lesser known gems. Situated on the northernmost bend of the Danube, it’s a friendly and laid back city, with an exceptionally well preserved medieval centre.

Kelheim is situated at the confluence of the Danube and Altmühl rivers, near the southern end of the Main-Danube Canal. Sights include the Weltenburger Kloster, the oldest monastery brewery in the world, and the impressive Liberation Hall, which commemorates German victories over Napoleon during the 19th century.

Nuremberg, Bavaria’s second city, first pops up in the history books in 1050 as a stronghold of the Franks, and later became the unofficial capital of the Holy Roman Empire. Nowadays the city is a tourist magnet thanks to the beautifully restored old town, Christmas markets and excellent beer.

Bamberg’s eye-catching, UNESCO-listed old town is one of the most beautiful in all of Germany. The city was briefly capital of the Holy Roman Empire, and the city centre is still dominated by the 13th century cathedral. There are also plenty of breweries, and you shouldn’t leave without trying Bamberg’s famous smoked beer.

The handsome town of Würzburg, situated on the river Main between Nuremberg and Frankfurt, was ruled for centuries by a succession of powerful prince-bishops. Although much of the city was destroyed during the Second World War, the majestic 18th century Residenz palace stands as a testament to the wealth of the bishopric.

The picturesque medieval town of Wertheim sits at the confluence of the Main and Tauber rivers, and is known for its castle, cobbled streets and charming half-timbered houses. The surrounding countryside is perfect for a bike ride, a gentle hike or a wine tasting tour.