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.

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.

The city of Moçâmedes, formerly known as Namibe, was founded by the Portuguese in 1840 on the edge of the Namib Desert. The city itself is graced with some elegant colonial architecture, while nearby attractions include the Arch Lagoon, with its impressive natural rock arches.

Luanda is a city of shocking contrasts, where conspicuous consumption fuelled by Angola’s oil boom rubs up against sprawling shanty towns. The most attractive areas of the city date back to the Portuguese colonial period, including the fortress of São Miguel de Luanda and the pleasant seafront promenade known as the Marginal.

Bom Bom Island Resort is the only hotel on the island of Principe, part of the little known West African nation of São Tomé and Principe. Ruggedly beautiful, with golden beaches and mountains swathed in jungle, this is a wonderful place to spend a relaxing day ashore.

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.

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.

Ghana’s capital city Accra is located on the Atlantic Ocean, where Europeans arrived to establish a trading hub on what was known as the Gold Coast. Precious metals were soon superseded by slaves, and visitors can get a flavour of the remnants of this grim practice in the former slave prisons and museums.

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.

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.

Sierra Leone’s capital was founded as the ‘Province of Freedom’ by a group of British philanthropists and emancipated black slaves in 1787, and the city became a beacon of the abolitionist movement. Freetown today is a vibrant and friendly place, home to both bustling markets and tranquil beaches.

The resort town of Tokeh sits on one of the most attractive beaches in West Africa, against a dramatic backdrop of forested mountains. Tokeh’s heyday in the 1980s was curtailed by Sierra Leone’s drawn-out civil war from 1991 to 2002, but the town’s fortunes are now on the rise once again.

Praia is the capital of Cape Verde, set on the south coast of Santiago island. Highlights include a scattering of attractive Portuguese colonial architecture around the Praca Alexandre Albuquerque, while the lively fruit and vegetable market will give you a taste of local life at street level.

Santo Antão is perhaps the most beautiful of all the Cape Verde islands, a landscape of spectacular peaks and ridges where houses cling precariously to the steep valley sides. The winding mountain roads, which take you up past banana and sugarcane plantations, are not for the faint of heart, but worth it for the stunning views from the top.

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.

Little La Gomera is the quietest of all the Canary Islands, still barely touched by tourism. The dramatic landscape of craggy volcanic peaks and misty laurel forest is staggeringly beautiful, and the diminutive capital, San Sebastián, is low key and laid back.

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.

Rebuilt after a terrible earthquake in 1960, Agadir is Morocco’s most popular beach resort, and there is a relaxed European feel that sets it apart from other Moroccan cities. The beachfront promenade is lovely and the waters are clean and clear, making this a popular winter sun destination.

The Atlantic port of Safi is one of Morocco’s lesser known tourist destinations, but offers plenty of interesting sights, including the imposing Kechla citadel and the Dar al Bahar fortress, both of which were constructed by the Portuguese in the 16th century.