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.

Said to have the world's most perfect climate, cosmopolitan Las Palmas is the capital of Gran Canaria and the largest city in the Canary Islands. The charming old quarter, La Vegueta, is where you'll find the city's most interesting colonial architecture, while beach fans should head for lovely Playa de las Canteras.

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 dry and barren volcanic island of São Vicente is home to Cape Verde’s most appealing port, the charming city of Mindelo. The cobbled streets and colonial architecture are a real pleasure to explore, and the city plays host to a raucous carnival in February.

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.

Sandwiched between the Namib Desert and the wild Atlantic coast, the geographically isolated town of Lüderitz is notable for its surreal Art Nouveau architecture. Most of these colourful buildings date back to the diamond rush period of the early 20th century, when Namibia was a German colony.

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.

Port Elizabeth is home to some nice beaches and a handful of interesting buildings, but it is perhaps not the most exciting city on the Sunshine Coast. There are plenty of things to see and do in the surrounding area, however, and we highly recommend a day trip to the fantastic Addo Elephant Park.

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.

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.

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.

Once just a sleepy fishing village, Dar es Salaam has mushroomed into one of the busiest ports in Africa. The rich history of Tanzania is reflected in a mixture of Arab, Indian, African and German architecture, and the National Museum contains the famous fossils of early humans found by Louis and Mary Leakey in the Olduvai Gorge in 1959.

Antsiranana, sometimes known by its old name of Diego Suarez, sits at the northern tip of Madagascar on a beautiful natural bay. It’s a pleasant city with pretty colonial architecture, and worthwhile day trips include the lush Montagne d’Ambre National Park and the red laterite rock formations of Tsingy Rouge Park.

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.

The low-lying reef-protected atolls of the Maldives, set in the crystal clear turquoise waters of the Indian Ocean, are the perfect place to relax and unwind. A great choice for a honeymoon or romantic getaway, the Maldives also appeal to active travellers who love watersports, snorkelling and diving.

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.

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.

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.

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.