Funchal, Madeira’s bustling capital, tumbles down a dramatic hillside towards a beautiful sweeping bay. Highlights include colourful markets, wine lodges and the spectacular cable car ride up to the village of Monte, home of the famous toboggan run.

The lush volcanic island of La Palma is one of the Canary Islands’ best kept secrets, a place where tourism is still low key and the beautiful scenery is unspoilt by high rise developments. Don’t miss the colourful colonial architecture of the capital, Santa Cruz, reminiscent of the Spanish Caribbean.

Situated on Tenerife’s north eastern shore, the island’s capital is a busy port that serves mostly as a gateway to the popular south west coast and the spectacular volcanic landscapes of the island’s interior.

The dry and barren volcanic island of São Vicente is home to Cape Verde’s most appealing port, the charming city of Mindelo. The cobbled streets and colonial architecture are a real pleasure to explore, and the city plays host to a raucous carnival in February.

The busy, dusty streets of Senegal’s capital Dakar are filled with life and colour, noises, smells and local music. The people here are friendly and helpful, so expect a warm welcome – but watch out for the usual hustles and scams of a busy city.

Banjul is the capital of The Gambia, Africa’s smallest country, situated at the point where the Gambia river enters the Atlantic. City highlights include the National Museum and the bustling Royal Albert Market, and the nearby Tanji Bird Reserve attracts ornithologists from around the world, with hundreds of colourful species.

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.

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.

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.

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.