The picturesque town of Les Andelys, situated on a bend in the river Seine, is best known for the ruins of Château Gaillard. Richard the Lionheart ordered the construction of this imposing fortress at the end of the 12th century, and it took just two years to build, a remarkable feat.

Rouen has endured a turbulent history: it was here that Joan of Arc was burnt at the stake in 1431, and much of the city was destroyed during World War II. Many cruise visitors head straight for Paris, an hour away by train, which is a shame since there’s so much to see in Rouen, including a beautiful cathedral and the atmospheric Medieval quarter.

Situated on the southern bank of the Seine estuary, Honfleur was once one of France’s most important ports. It was also a favourite location of Monet and the Impressionists, and art lovers may well recognise the elegant Renaissance architecture of the old harbour, the Vieux Bassin.

The picturesque town of Vernon, with its timber-framed houses and medieval church, is a pleasant place for a riverside stroll, but most visitors are just passing through en route to Claude Monet’s house and beautiful gardens in the nearby village of Giverny.

Paris is a joyful expression of all that is glorious about France, a city of rarified tastes, romantic riverside walks and the occasional rather rude waiter. Culture vultures will be in seventh heaven, with a plethora of galleries and museums housing some of the finest art collections in the world, and the restaurant scene is absolutely first class.

Situated at the confluence of the Rhône and Saône rivers, Lyon is one of France’s most appealing cities. Its reputation for gastronomic excellence is well deserved, with hundred of wonderful restaurants, and the UNESCO listed historic centre boasts a marvellous ensemble of Renaissance-era buildings.

Chalon-sur-Saône was once a key trading centre and port, situated at the meeting of Roman roads, the river Saône and several other inland waterways. The city’s distinguished history is reflected in its handsome buildings, and this is an excellent base from which to explore the southern Burgundy wine regions.

The riverside town of Tournus is known for the magnificent Benedictine Abbey of Saint Philibert, of which the Romanesque 11th-century church is the main surviving element. Other nearby sights include the splendid Château de Cormatin, the medieval village of Brancion and the Mâconnais wine region, home of the Chardonnay grape.

The twin villages of Tournon-sur-Rhône and Tain l’Hermitage sit on opposite banks of the Rhône, around 50 miles south of Lyon. Visit Tournon’s hilltop castle and charming old town, then sample some of Tain l’Hermitage’s excellent wines and the famous Valrhona chocolate.

The former papal stronghold of Avignon cuts a dramatic figure, perched above the Rhône and ensconced behind towering walls. The Palais des Papes was home to a succession of 14th century pontiffs, and still looms large over Avignon’s atmospheric old town.

The charming little town of Arles sits at the head of the Rhône delta, on the northern fringe of the sprawling marshlands of the Camargue. It’s a town with a long history, as evidenced by an impressive array of Roman ruins, and it's a great place to sample the essence of Provençal culture.

The little town of Viviers, on the right bank of the Rhône, is a delightful place to explore on foot, with its narrow, cobbled medieval streets and elegant cathedral. A lot of history is packed into a small space, including Roman remains and the Renaissance era Maison des Chevaliers.