A UNESCO World Heritage site in its entirety, Lubeck in northern Germany is packed to the gills with historic architecture, from Brick Gothic-style churches to merchants' mansions.
Just under 100 miles (160km) northwest of Madrid you'll find Segovia, a pocket-sized city and World Heritage Site crammed with historic landmarks.
Worlds away from the hectic metropolises of Tokyo and Osaka, the city of Takayama is situated in Japan's Gifu Prefecture.
Characterised by its Roman architecture, this city in France's Provence region has an artistic side too. It's revered for its connection to the late Dutch painter Vincent van Gogh.
The little city of Ely is situated in the Cambridgeshire Fens and has roots dating back to AD 673, when Anglo-Saxon princess Saint Etheldreda established a Christian community here.
Its history stretches back to at least the Middle Ages when it was a key market town, and its oldest quarters remain a warren of cobbled streets and colourful houses.
Another little city with Roman roots, Merida in western Spain was founded as early as 25 BC, and was one of the largest and most important towns in the area.
Padua, Italy's second-oldest university, is 25 miles (40km) west of Venice. The city is mentioned in 302 BC and still has numerous relics.