The crumbling, sun-baked seafront city of Cádiz is said to be the oldest continuously inhabited settlement in the western world, founded by the Phoenicians around 1100 BC. Although the city lacks any obvious landmarks, it’s rich in atmosphere, and plays host to one of Spain’s most colourful carnivals.

Bustling and modern, fizzing with industry and commerce, Casablanca is often overlooked in favour of Morocco’s better known tourist draws. But then this is part of its appeal: it’s an authentic and unvarnished city, and it’s also home to the spectacular modernist architecture of the Hassan II Mosque.

Rebuilt after a terrible earthquake in 1960, Agadir is Morocco’s most popular beach resort, and there is a relaxed European feel that sets it apart from other Moroccan cities. The beachfront promenade is lovely and the waters are clean and clear, making this a popular winter sun destination.

In recent years Lanzarote has begun to shake off its mass market reputation and reinvent itself as a more upmarket destination. The extraordinary volcanic landscapes and the works of local artist César Manrique give the island a unique appearance, and the understated capital, Arrecife, is well worth exploring.

The busy, dusty streets of Senegal’s capital Dakar are filled with life and colour, noises, smells and local music. The people here are friendly and helpful, so expect a warm welcome – but watch out for the usual hustles and scams of a busy city.

Banjul is the capital of The Gambia, Africa’s smallest country, situated at the point where the Gambia river enters the Atlantic. City highlights include the National Museum and the bustling Royal Albert Market, and the nearby Tanji Bird Reserve attracts ornithologists from around the world, with hundreds of colourful species.

Abidjan, the most important city in Côte d’Ivoire, has bounced back since the civil war of 2011, and the glittering array of skyscrapers comes as a surprise to many visitors. There is still plenty about the city that is authentically African, however, including some of the best street food in the region.

Once just a little fishing village, Takoradi is now a deep-water sea port growing rapidly on the back of Ghana’s oil industry. Nearby points of interest include Cape Coast Castle, part of a network of colonial-era forts where slaves were held captive before being shipped across the Atlantic.

Lomé is Togo’s capital and largest city, once known as the ‘Pearl of West Africa’, and there are still some architectural remnants of the colonial period, when the city was part of German Togoland. Perhaps more interesting today are Lomé’s colourful fetish markets, where you can learn about the role of Voodoo in West Africa.

Walvis Bay is situated on the edge of a tidal lagoon, sheltered from the Atlantic by a long sand spit. This important wetland area is famous for its birdlife, home to one of southern Africa’s largest flamingo colonies, and it’s a short drive to the city of Swakopmund, known for its quirky German colonial architecture.

Cape Town is a magical, multicultural city where Africa meets a European-style cosmopolitan atmosphere, creating a vibrant melting pot of cultures and religions. With flat-topped Table Mountain soaring above the city, beautiful natural landscapes, and gardens within the city, you never feel far from nature here.

The sunny city of Mossel Bay is on South Africa’s famous Garden Route, situated roughly halfway between Cape Town and Port Elizabeth. The city has a pleasant seafront promenade and there are some lovely beaches nearby, along with whale and dolphin watching hotspots and game reserves.

Richards Bay itself is an industrial city with little in the way of tourist sights, but the port serves as a gateway for the many attractions of KwaZulu-Natal province. Head inland and you’ll find traditional Zulu villages, undulating hills and wildlife including crocodiles, hippos and the rare black rhino.

Mozambique’s laid back capital is an eclectic mix of elegant Portuguese colonial architecture and concrete blocks that hark back to the days of Soviet influence. Maputo also has an excellent selection of restaurants and a lively nightlife scene, as well as some interesting museums and markets.

Mayotte is part of the Comoros archipelago, off the east coast of Africa, governed by France as an overseas territory. It’s something of a post-colonial oddity; the white sand beaches and laid back pace are typical of the Indian Ocean, but the cost of living is more reminiscent of mainland France.

The island of Nosy Be, just off the northeast coast of Madagascar, remains a laid back locale in spite of its popularity as a tourist destination. The beaches are the main attraction for most visitors, along with the colourful chameleons and tiny frogs hiding in the Lokobe wildlife reserve.

Mahé is the largest island in the Seychelles, home to the diminutive capital, Victoria, and 90% of the country’s population. It’s the quintessential tropical paradise, a sun-drenched landscape of granite mountains, lush jungle and heavenly white sand beaches.

Oman’s capital is low-rise and laid back, a far cry from the towering bling of Dubai and Abu Dhabi. Take a stroll along the waterfront Corniche promenade, soak up the sun on one of the excellent beaches, or explore the mosques and forts of the atmospheric old quarter.

The port of Fujairah is an important transit point for the oil that has made the Emirates so rich, though the skyline is nothing like as impressive as Dubai or Abu Dhabi. Points of interest include an impressive fort and a handful of markets, but this is unlikely to be the most exciting stop on your itinerary.

Amazing high rise buildings, extensive air-conditioned shopping malls and extraordinary man-made tourist attractions (such as indoor ski-slopes) abound in the glamorous city of Dubai, home to some of the most glitzy and expensive hotels in the world.

Qatar's capital is a city on the up, with vast sums of money being poured into construction projects for the 2022 World Cup and cultural venues such as the spectacular Museum of Islamic Art. There are also plenty of more traditional attractions, such as the atmospheric souks and the lovely waterfront Corniche promenade.

The UAE’s gleaming capital gives Dubai a run for its money in terms of extravagant excess, an ever-multiplying forest of skyscrapers looming over the golden sand and brilliant blue waters of the Gulf. Don’t miss the shining white Sheikh Zayed Grand Mosque, one of the world’s biggest.

Khasab is the main town on the Musandam Peninsula, a rugged region of fjords and mountains that is sometimes known as the ‘Norway of the Middle East’. Dolphins can often be spotted off the coast, along with the pretty local dhow boats, while on land you can take a jeep safari and visit the 17th century Portuguese fort.

Formerly known as Bombay, this amazing city is larger than life and packed to bursting with things to see and do. Here people of all religions and nationalities live cheek by jowl, thriving communities from all over the world with the foods, smells, languages and rituals maintained at top volume.

The port of Mormugao is the gateway to the diminutive Indian state of Goa, famous for its golden sand beaches, hippie vibe and unique Portuguese heritage. Highlights include the beautiful colonial architecture of Old Goa, the charming capital, Panjim, and the fragrant spice farms of the interior.

Mangalore, officially known as Mangaluru, sits on the coast of Karnataka, sandwiched between Goa and Kerala. The port was an important hub for trade with Arabia and Persia, and was later colonised by both the Portuguese and the British, leaving a rich architectural legacy of mosques, temples and churches.

The port of Kochi, commonly known as Cochin, occupies a strategic location on India’s Malabar Coast, and its history as a trading hub is reflected in the blend of European, Chinese and Arabian influences. It’s also the gateway to the idyllic Kerala Backwaters, which are best appreciated on a houseboat cruise.

Colombo may be a little chaotic, but there is plenty to recommend Sri Lanka's colourful capital. Faded colonial architecture and beautiful Buddhist temples hint at the city's considerable history, while the excellent restaurants, lively bars and characterful streets provide the perfect introduction to contemporary Sri Lankan culture.

The Dutch colonial architecture of the Fort, Galle’s walled old quarter, is one of the highlights of Sri Lanka’s south coast. The atmospheric streets are home to all manner of beguiling boutiques, cafés and restaurants, and the beach towns of Hikkaduwa and Unawatuna are just a short drive away.

Investment has poured into Hambantota since the city was devastated by the 2004 tsunami, and this is now one of South Asia’s biggest ports. Hambantota is a jumping off point for Yala National Park, famous for its leopards, and the less well known Bundala National Park, rich in birdlife including flamingos and storks.

As well as a plethora of luxury resorts, Phuket has a charming old town replete with pretty Sino-Portuguese architecture, and acts as a jump-off point for exploring nearby islands and coastline. Koh Phing Pan, better known as James Bond Island, and Ko Phi Phi are breathtakingly beautiful, as are the limestone formations that surround Krabi.

Laid-back Langkawi boasts some of Malaysia’s finest beaches, and it’s a place where the traditional kampung (village) way of life survives in spite of the island’s development as a tourist destination. It’s also a popular spot for snorkelling and scuba diving thanks to the clarity of the surrounding waters.

The Malaysian island of Penang is a fascinating blend of East and West, far more than just a beach destination. Lovely Georgetown, a UNESCO World Heritage Site, is home to British colonial architecture, crumbling Chinese shophouses and incense-perfumed temples.

Malaysia’s capital is a hot and humid cultural melting pot, defined by its distinctive Malay, Chinese and Indian communities. The dazzling Petronas Towers are KL’s most recognisable landmark, while at street level you’ll find temples and mosques, elegant colonial buildings and bustling markets.

The port of Malacca has a rich multicultural heritage, a product of its history as an important trading hub. Over the years the Arabs, Portuguese, Dutch and British all held sway here, which is reflected today in the city’s eclectic architecture and unique cuisine.

Singapore’s heritage as an important trading post means that there is a real cultural mix, with four official languages: English, Chinese, Malay and Tamil. Step away from the gleaming towers and you’ll find yourself transported into another world amongst the intoxicating streets of Chinatown and Little India.

The sweltering city of Semarang, on the north coast of Java, is an intriguing mish-mash of Chinese, Islamic and Dutch colonial influences. We recommend escaping the heat with a trip up into the mountains to visit a coffee plantation, or joining an excursion to the extraordinary temple complex at Borobudur.

Surabaya, situated on the northeast coast of Java, is Indonesia’s second largest city and the place where the country’s struggle for independence began. The warren-like Arab Quarter is worth exploring, though many visitors use the city as a base for visiting nearby Mount Bromo.

The beaches, spectacular volcanic scenery and lush green rice terraces lend Bali a natural beauty that seems to dovetail perfectly with the island’s distinct Hindu culture, which adorns the landscape with stunning temples.

More of a large town than a city, Darwin is less about what’s contained within the city limits and more about the huge expanse of wild landscape that’s outside it. Closer to Jakarta than Sydney, the city really does feel remote in its tropical perch.

Cooktown is a small place with a big history, named after Captain James Cook, who beached his ship the ‘Endeavour’ here in 1770 after it was damaged on a nearby reef. It’s a remote and sleepy town, and the seafront statue of Captain Cook is the main sight worth seeing.

Cairns is a buzzing tourist hub, gateway to the Great Barrier Reef and the Daintree Rainforest. A snorkelling trip out to the reef is the most obvious excursion to take here, but other options include riding the Skyrail cableway over the rainforest canopy or swimming in the croc-free saltwater lagoon.

Sunny Townsville is a great introduction that everything that Queensland has to offer, sandwiched between palm-fringed beach and rugged outback. It’s a friendly and walkable city, with a fascinating museum and an aquarium that gives you a taste of the Great Barrier Reef.

Brisbane has plenty of shopping malls and, with great weather, a fantastic café culture. Amongst the steel and glass skyscrapers are some interesting historic buildings, and with plenty surrounding the city there’s enough on offer to make for an interesting short stay.