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 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.

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 city of Linz is included on river cruise itineraries due to its proximity to Salzburg, which is where you’ll most likely be headed. Salzburg’s Altstadt attracts millions of visitors every year with its fairytale skyline of domes and spires, and the city is renowned as both the birthplace of Mozart and the setting for ‘The Sound of Music’.

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.

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.

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.

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.

Kalocsa is known for its paprika, the ‘red gold’, used to flavour Hungary’s national dish, goulash. Look out for garlands of paprika hanging from the walls of local houses. The town is also famous for its beautiful embroidery, and excursions may take you out into the grassy steppe of the Puszta region.

Osijek is the capital of Slavonia, a region of eastern Croatia that is hemmed in on three sides by Hungary, Serbia and Bosnia. Tourists are thin on the ground compared to the Dalmatian Coast, yet Osijek is an elegant and cosmopolitan city surrounded by beautiful countryside.

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.

The riverside town of Silistra, situated in northeastern Bulgaria, was once the Roman settlement of Durostorum, a heritage you can explore at the interesting Archaeological Museum. You can also visit the town’s Ottoman era fort or take a trip out into the surrounding countryside.

The river port of Giurgiu is situated just across the Danube from the Bulgarian city of Ruse, and the two cities are linked by a cross-border Friendship Bridge. Giurgiu is the start and end point for river cruises on the lower Danube, linked by road and rail to Romania’s capital, Bucharest.