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 pretty Bavarian town of Passau, situated close to Germany’s border with Austria, enjoys a unique setting at the confluence of three rivers: the Inn, the Ilz and the Danube. The narrow cobbled streets of the handsome old town, the Altstadt, are quite delightful.

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’.

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.

Krems sits on the river Danube at the eastern end of the beautiful Wachau Valley, surrounded by vineyards. It’s an attractive old town, with pretty cobbled streets and a good selection of galleries and museums, as well as some excellent restaurants.

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.

Bratislava, Slovakia’s quaint little capital, straddles the Danube close to the border with Austria and Hungary. The compact old town is the best place to begin your exploration, before heading up to the hilltop castle for commanding views of the city and surrounding countryside.

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.