Gijón is the largest city in the Asturias region of northern Spain, an important industrial port but also a lively and youthful place, ideally positioned for exploring the Costa Verde. The most interesting area is the historic fishing village of Cimadevilla, which sits on a peninsula that divides the bay in two.

It’s not so long ago that Bilbao was a grim and unappealing place, scarred by heavy industry, but the Basque Country’s biggest city has reinvented itself as a cultural hub since the opening of the shimmering Guggenheim Museum in 1997.

Saint-Malo grew rich off the back of maritime trade and its plundering corsairs, a seafaring heritage that is still proudly on display today. It’s great fun getting lost in the streets of the walled old town, and the famous medieval abbey of Mont Saint-Michel is an easy day-trip.

Plymouth has a fine seafaring heritage, and it was here that the Pilgrim Fathers set sail for the New World on board the Mayflower. The city was badly damaged during the Second World War, but an ongoing regeneration project is breathing new life into the waterfront, and nearby attractions include Buckfast Abbey and Dartmoor National Park.

Every August sailors from all over the world descend on Cowes for Cowes Week, the world’s oldest sailing regatta, and the town has an unmistakable nautical vibe. Spend some time perusing the upmarket shops, tuck into some fish and chips or head out and explore the Isle of Wight's beautiful coastline.

Zeebrugge’s main attraction is its proximity to Bruges. This beautifully preserved old town is a magical maze of winding cobbled lanes, narrow canals and gorgeous gabled houses, and it’s no wonder so many visitors throng the streets in summer.

Antwerp is a city bound up with the arts, once home to the likes of Rubens and Van Dyck, and more recently carving out a reputation as the fashion capital of Belgium. It’s also a magnet for shopaholics, with designer boutiques and jewellers galore.

Esbjerg is a relatively young city, founded in 1868, and owes much of its prosperity to the oil and fishing industries. Away from the port you’ll find some interesting 19th and 20th century architecture, an engaging art museum and the celebrated sculpture ‘Man Meets The Sea’ by Svend Wiig Hanson.

You might not expect to find a beach resort in Norway, but the sunny city of Kristiansand is where Norwegians go for a spot of fun by the seaside. There are plenty of family-friendly attractions, including a zoo, and it’s also a good base for exploring the pretty fishing villages of the south coast.

Gothenburg, Sweden’s laid back second city, is a delightful mix of cobbled streets, neoclassical architecture and picturesque canals. The old town is full of history, with some interesting museums, and the thriving arts scene has helped to revitalise the city’s previously run-down industrial districts.

Wonderful Copenhagen is the perfect city to explore on foot, by bicycle or by water. Visit the bustling wharf at Nyhavn, enjoy the palaces, galleries and museums, wander through the amazing Tivoli Gardens, and if you have time, make the most of Copenhagen’s gastronomic revolution.

Gothenburg, Sweden’s laid back second city, is a delightful mix of cobbled streets, neoclassical architecture and picturesque canals. The old town is full of history, with some interesting museums, and the thriving arts scene has helped to revitalise the city’s previously run-down industrial districts.

The Hardangerfjord region is rich in natural beauty, and is sometimes known as ‘Norway’s orchard’ on account of the many fruit farms growing apples, cherries, pears and plums. There are some fantastic hiking trails in the region, along with sights including the famous Trolltunga rock.

Stavanger originally grew rich from its fishing industry, though these days it’s Norway’s oil boom that is powering the city’s economic growth. In spite of this modern gold rush the historic centre of Stavanger retains its charm, and the spectacular Lysefjord is within easy reach of the city.

Farsund is an old pirate hideout on Norway's south coast, and the locals celebrate their heritage every year at the Pirate Town festival. The town sits on the Lista peninsula, and the wetlands surrounding Lista lighthouse are a magnet for birdwatchers, with hundreds of species to look out for.

Aalborg, Denmark’s fourth largest city, sits towards the northern tip of the Jutland peninsula, bisected by the Limfjord. It’s an important industrial centre and university town, with a recently revitalised waterfront area and a small but picturesque old town.