Nafplion is one of the most beautiful cities on the Greek mainland, situated on the Argolic Gulf overlooked by the imposing Palamidi Fortress. The narrow streets of the old town are home to a beguiling mix of Venetian, Turkish and Greek architecture, while just offshore is the little island castle of Bourtzi.

Syros is one of the smallest of the Cyclades islands, though it’s also the administrative capital of the archipelago. Not many cruise ships call here, so you’ll find the beaches are much less crowded than other islands, and the main town, Ermoupoli, is home to a fascinating mix of architectural styles.

Saint John is said to have written the Book of Revelations in a cave on Patmos, and today the spot is marked by the hillside Monastery of the Apocalypse. As well as spirituality, the island is known for its beaches and upmarket vibe, with a scattering of stylish restaurants and bars.

Crete’s bustling capital is a modern and cosmopolitan city, where the island’s rich history isn’t immediately apparent. Take a closer look, however, and you’ll find a fantastic archaeological museum, along with remnants of Venetian fortifications and a lively seafront promenade, with plenty of nice outdoor cafés.

Founded by Greek colonists in 734 BC, Siracusa was once the largest city in the ancient world, surpassing even Athens in its splendour. Highlights include the island of Ortigia, where narrow streets are lined by beautiful Baroque architecture, and the impressive ruins at the Parco Archeologico della Neapolis on the Sicilian mainland.

Tunisia’s capital is a whirlwind of energy, the narrow lanes of the old medina packed with people and the roads noisy with traffic. The more orderly streets of the Ville Nouvelle are home to some handsome colonial buildings, while the ruins of ancient Carthage make for a fascinating day trip.

Palermo is an acquired taste; noisy, chaotic and rather grimey in places. But there’s something quite intoxicating about the crumbling facades and the bustling markets, and the Arabesque style of many of the buildings hints at Sicily’s historical role as a stepping stone between Europe and North Africa.

The UNESCO World Heritage-listed centre of Naples rewards exploration, and in addition to the many cultural treasures waiting to be unearthed Neapolitans are rightly proud of their food; this is where you’ll find the best pizza in Italy. The city also acts as a gateway to the fascinating remains of Pompeii and Herculaneum, and the beautiful Amalfi coast.

One of the world’s great cities, Rome continues to dazzle and delight visitors with a potent mix of architectural marvels, continent-defining history and buzzing nightlife. The Colosseum, the Vatican and the Forum are among the big ticket items, with the crowds to match, though in truth you will find history around almost every corner.

Porto Santo Stefano sits on the slopes of Monte Argentario, a promontory connected to the Tuscan coast by three slender spits of land. The port was subjected to frequent pirate raids until the Spanish fortified it in the 16th century, and the fortress still looms over the harbour.

The faded port town of Livorno serves as a gateway to Tuscany’s star attractions. Wonderful Florence, the cradle of the Renaissance, is resplendent with beautiful architecture and unrivalled artistic treasures, while nearby Pisa is of course famous for its precarious Leaning Tower.

Genoa has a legendary seafaring heritage, and was once a powerful maritime republic. However, the city’s most famous son, Christopher Columbus, was spurned by the Genoese elite when he came looking for funds for his expedition, and his discoveries for the Spanish Crown ironically played no small part in Genoa’s downfall.

The rumbustious port of Marseille often gets a bad press, but the city has been transformed in recent years, with a host of new cultural attractions. The vibrant Vieux Port remains at the heart of life in Marseille, however, and is the best place to begin your exploration of the city’s many historic sights.

The down-to-earth port of Sète, sandwiched between the Mediterranean and the Etang de Thau lagoon, is a working town rather than a tourist hotspot, though the canals and colourful buildings have a certain charm. It’s also a great spot for a seafood lunch, and a visit to the nearby citadel of Carcassonne is a popular excursion.

From the warren-like medieval streets of the Barri Gòtic to the fantastical modernist architecture of Antoni Gaudí, from the dizzy heights of Mount Tibidabo to the golden sands of Barceloneta, there’s never a dull moment in Barcelona.

Spain’s third city is a dazzling destination that combines historic architecture, cutting edge design and an inviting stretch of beach. Don’t miss the futuristic City of Arts and Sciences, designed by local architect Santiago Calatrava, or the old riverbed, now a delightful park.

Cartagena was founded by the Carthaginians around 227 BC, who named it after their home city in North Africa. These days the city is best known for its well-preserved Roman theatre, which was remarkably only discovered in 1987, in spite of its location in the centre of town.

Situated on the sunniest stretch of the Andalusian coast, Almeria is little visited by tourists, but the narrow streets of the old town contain some intriguing Mudejar-style architecture. The surrounding landscape is almost lunar in appearance, and has served as the backdrop for many films, from spaghetti westerns to 'Lawrence of Arabia'.

Sovereignty of ‘The Rock’ has been a thorny issue ever since Gibraltar was ceded to Britain in 1713, though on the ground it’s clear where most locals’ sympathies lie. Gibraltar is often described as ‘more British than Britain’, a curious enclave of red postboxes, double decker buses and chip shops.

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.