The historic harbour city of Tallinn in Estonia is really quite captivating. Just the perfect size to explore on foot, its medieval (and UNESCO listed) town centre, with its cobblestone streets and a busy Town Hall Square, is the perfect introduction to Estonia’s rich history.

The Baltic port of Gdansk occupies an important place in 20th century history; the first shots of World War II were fired at the Westerplatte naval base, and it was amongst the shipyards of Gdansk that the Solidarity movement was born in the 1980s.

The ruggedly handsome island of Bornholm lies way out in the Baltic, closer to Sweden and Poland than the Danish mainland. It’s the sunniest place in Denmark, known for its intriguing rundekirke (round churches), sleepy fishing villages, traditional smokehouses and fantastic foodie scene.

The old Hanseatic port of Rostock was heavily damaged in the Second World War, though attractive enclaves of historic architecture remain. The little village of Warnemünde, a suburb of Rostock, is home to one of the most appealing beaches on the Baltic coast. An excursion inland to Berlin is a popular option, though it's around 150 miles each way.

Wonderful Copenhagen is the perfect city to explore on foot, by bicycle or by water. Visit the bustling wharf at Nyhavn, enjoy the palaces, galleries and museums, wander through the amazing Tivoli Gardens, and if you have time, make the most of Copenhagen’s gastronomic revolution.

Aalborg, Denmark’s fourth largest city, sits towards the northern tip of the Jutland peninsula, bisected by the Limfjord. It’s an important industrial centre and university town, with a recently revitalised waterfront area and a small but picturesque old town.

The intriguing city of Oslo, Norway’s capital, has so much to offer, from the open air Norwegian Folk Museum to the amazing Vigeland sculpture park, and from the Holmenkollen Ski Museum to the Munch Museum’s collection of memorable paintings. History, art and culture are what defines this lovely city.

Stavanger originally grew rich from its fishing industry, though these days it’s Norway’s oil boom that is powering the city’s economic growth. In spite of this modern gold rush the historic centre of Stavanger retains its charm, and the spectacular Lysefjord is within easy reach of the city.

Beautiful Bergen, Norway’s former capital, is a perfect city to explore on foot. Bryggen – the old Hanseatic wharf, and a UNESCO World Heritage site – still has the old harbour timber buildings, whilst other attractions include the funicular up Mount Floyen and the busy fish market.

Dramatically located at the head of the Aurlandsfjord, the picturesque little village of Flåm is a popular base for excursions into Norway’s great outdoors. Strike out into the surrounding countryside and you’ll find steep mountains, cascading waterfalls and bucolic farms, with some spectacular walking and cycling trails.

The Geirangerfjord is arguably the most spectacular fjord in all of Norway, a sinuous ten mile stretch of sheer mountain walls and tumbling waterfalls. The village of Geiranger itself sits at one end of the fjord, and in summer the population swells with an influx of visitors to this beautiful region.

When Ålesund was destroyed by fire in 1904, the German Kaiser Wilhelm II agreed to foot the bill to rebuild it. The result was the stunning Art Nouveau architecture that you see today, which blends elements of the German 'Jugendstil' with Viking flourishes.

Tórshavn, named after the Norse god Thor, is one of the world’s smallest capitals, with a population of just 20,000. The brightly coloured facades and turfed roofs lend the harbour an attractive, storybook quality, and the narrow streets are home to some atmospheric pubs and cafés.

Seyðisfjörður is one of the highlights of Iceland’s Eastfjords, a cute collection of colourful houses at the head of a dramatic fjord. The backdrop of snowy mountains and cascading waterfalls makes this one of the most picturesque ports in Iceland, and the town is surprisingly cosmopolitan.

Akureyri is Iceland’s second city, though with just 18,000 inhabitants it’s really more of a small town. Situated on the north coast at the head of Iceland’s largest fjord, it’s a cute and quirky place that also serves as a base from which to explore the bubbling mud pools and lunar landscapes around Lake Mývatn.

Ísafjörður is the largest town in Iceland’s wild Westfjords, dramatically located on a spit of sand hemmed in by mountains on three sides. The town itself is fairly low key, and the main attraction is exploring the surrounding landscapes, such as the spectacular Hornstrandir Peninsula.