Cologne is a wonderfully warm and welcoming city, its skyline dominated by one of the most beautiful Gothic cathedrals in Europe. You will likely spend most of your time in the attractive Altstadt (Old Town), home to beer halls aplenty and some fascinating museums.

The pretty little town of Rüdesheim, situated on a bend in the Rhine surrounded by vineyards, is a popular destination for travellers looking for a slice of quintessentially German village life. The Drosselgasse, a narrow cobbled lane flanked by old timber frame buildings, is particularly atmospheric.

The quaint little Bavarian town of Miltenberg sits on the Main river to the southeast of Frankfurt, with a beautiful old town that survived the Second World War unscathed. Timber-framed buildings lean at jaunty angles overhead, not least in the ‘Black Quarter’, where the streets are so narrow that the sunlight barely reaches ground level.

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.

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.

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.

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.

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.

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.

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.

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.

Budapest is one of Eastern Europe’s most appealing cities, a vibrant and welcoming capital that straddles the Danube. The history of Budapest has been somewhat turbulent, but plenty of beautiful buildings survive, including the imposing Parliament and iconic St Stephen’s Basilica.

Vukovar is one of the great tragedies of the Balkan wars, a once prosperous and elegant city reduced to rubble by fierce fighting between Croats and Serbs. There are green shoots of optimism as the city rebuilds, but the battle-scarred streets are a powerful reminder of the devastating conflicts of the 1990s.

Belgrade has been invaded and occupied dozens of times over the centuries, a fact that's reflected in the mish-mash of architectural styles, from Ottoman and Art Nouveau to grim relics of the communist era. But Belgrade is also a city with real soul, emerging from a difficult recent history as one of Europe’s most exciting capitals.

As the Danube wends its way east, along the border between Serbia and Romania, the river narrows to a dramatic gorge known as the Iron Gates. The river here is flanked by a huge stone carving of Decebalus, the last king of the Dacians and a Romanian national hero.

The Bulgarian city of Ruse (also written ‘Rousse’) sits on the right bank of the Danube just opposite the Romanian city of Giurgiu, and is one of the country’s most attractive cities. Sometimes known as ‘Little Vienna’, thanks to the plethora of Neo-Baroque and Neo-Rococo architecture, it’s a highlight of any cruise along this stretch of the Danube.

Constanta, Romania’s largest Black Sea port, is not the most attractive city in the world, but it does have some interesting history; founded by the Greeks over 2,500 years ago, the city was home to the Roman poet Ovid after he was exiled here by the Emperor Augustus in 8 AD. It's also located close to the wildlife-rich Danube Delta, home to pelicans, white-tailed eagles, egrets and more.