Europe can’t be beaten for its plethora of thrilling cities. There are medieval old towns, pedestrian-friendly shopping streets and contemporary attractions to check out, but how do you best fit them all into one visit? Rather conveniently, MotelOne has compiled the most walkable cities in Europe. We've listed its top 20 destinations with a recommended walk for each; after all, going by foot can be a better on-the-ground-experience than by car or public transport. Read on to discover exactly which places made the list.

Kicking us off at number 20 is Irish capital Dublin. From the Jameson Distillery on Bow Street, amble along the riverside, crossing at O’Connell Bridge to the National Wax Museum. Then it’s onto Dublin Castle followed by the Guinness Storehouse, which is the quintessential place to sink a pint of the good stuff. Continue onto the Teeling Whiskey Distillery before winding through St Stephen’s Park and ending at the Little Museum of Dublin for a fascinating insight into Dubliners’ lives over the past 100 years. This route takes just under an hour and a half covering 4.2 miles (6.7km) in 8,792 steps.

This city stroll through Barcelona can be steep at points, but it's well worth the effort. Start at Ciutadella Park and head down the iconic La Rambla with its wide boulevards flanked by looming trees. You’ll soon reach Casa Milà, an architectural gem with its funky curved rooftop, before reaching the famous landmark that is Gaudí's La Sagrada Familia. You could stop off here but otherwise continue onto the mesmerising Park Güell. Spread out on one of the mosaic-clad winding benches after completing this route totalling 4.10 miles (6.6km), resulting in approximately 8,661 steps.

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What better place to start a walk through London than at Buckingham Palace? Stroll through St James’s Park opposite, keeping an eye out for pesky pelicans and parakeets, and emerge to face Big Ben. Cross Westminster Bridge and hug the riverside passing the London Eye and Southbank Centre before crossing Blackfriars Bridge. You're not far from St Paul’s Cathedral but push onto Tower Bridge to complete this riverside route. At 4.10 miles (6.6km), this capital-city walk takes just under an hour and a half in 8,661 steps (the same as Barcelona).

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All roads lead to Rome, but this four-mile (6.5km) walk winds through the very best parts in 8,530 steps. The superlative Sistine Chapel is your starting point and after St Peter’s Basilica pass Castel Sant’Angelo and cross St Angelo Bridge, taking in beautiful views of the River Tiber as you go. Enjoy the bustling Piazza Navona, the famed Pantheon and ogle at the Trevi Fountain. After passing more ancient gems – including none other than the Colosseum – end at the 5th-century Basilica Papale di Santa Maria Maggiore. Reward yourself for the hour-long walk by tucking into a tub of gelato.

This walk takes one hour and 20 minutes and covers nearly four miles (6.3km) in 8,268 steps. Start at the impressive Berlin Cathedral or the neighbouring antiquarian Pergamonmuseum and leave the River Spree behind you as you inch closer to Brandenburg Gate and into the fringes of Großer Tiergarten. Stop off at the Reichstag, home to the German parliament, before entering the sprawling park which includes a zoo and aquarium in its southern section. Round off this route at the Kaiser Wilhelm Memorial Church for a moment of reflection amid the hustle and bustle of the city.

Arguably the best part of this walk is its starting point; from the Chocolate Museum, cross the canal to reach the Grand Place, easily one of Europe’s most beautiful market squares. Continue onto the Gothic-style St Michael and St Gudula Cathedral and zip through leafy Brussels Park to the Royal Palace of Brussels (head inside for a tour of the place). Finish at the landscaped 19th-century gardens of Parc du Cinquantenaire whose surrounding bakeries make for a tempting reward of this 3.8-mile (6.2km) route, covering 8,136 steps in one hour and 20 minutes.

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Warsaw is a big city but that means there’s plenty of walking options. One of the best starts at the Multimedia Fountain Park (a lit-up spectacle at night) and stroll past the reconstructed 14th-century Royal Castle, stopping off for a guided tour if it takes your fancy. Slightly further along is the Palace of Culture and Science, fulfilling any Soviet-era curiosity, along with an awesome observation deck on the 30th floor. Finally, you’ll reach Warsaw Uprising Museum, which details Poland’s battle for independence in 1944. This route covers 3.2 miles (5.2km) in 6,824 steps and should take you just over an hour.

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Wander through the Spanish capital and you won’t be disappointed. This one-hour-long route covers 3.2 miles (5.1km) in 6,692 steps. Admire the glimmering Palacio de Cristal as you walk through El Retiro Park and continue past the central lake and onto Puerta de Alcalá. Art lovers can break off at the Museo Nacional del Prado, otherwise continue onto Plaza Mayor, passing cathedrals, Moorish walls and lush gardens en route. End this walk at Plaza de España, where you can finally relax and watch the world go by.

Explore the best ancient Athens has to offer on this 3.10-mile (5km) route that takes just over an hour in 6,561 steps. Start from the Temple of Hephaestus in the ancient Agora and follow the path that takes you past the National Observatory – even if you don’t visit it’s worth stopping here simply to rest your calf muscles – and continue up to the mighty Acropolis. This ancient outcrop is home to the bedazzling Parthenon among smaller temples and crumbling ruins mostly dedicated to the goddess Athena, who the city is named after.

Saunter from landmark to landmark on this 3.10-mile (5km) route that covers 6,430 steps in just over an hour. Take in the city views from Arthur’s Seat, an ancient volcano, before heading back to ground level and past the 16th-century Palace of Holyroodhouse, the Queen’s official residence in the city. Enjoy a stroll along the Royal Mile with a pit stop at the National Museum around the corner or continue onto the crowning landmark of the city, Edinburgh Castle. If time permits, pay a visit to the Gothic-style Scott Monument or the wonderful National Gallery nearby.

Nobody regrets taking their time in Prague and this is exactly what this hour-long walk demands. During the 2.9-mile (4.7km) trail, head from hilltop Petrin Tower, past the Museum of Miniatures and towards mighty Prague Castle. As you make your way downhill, stop off for hearty food before crossing the ever-captivating Charles Bridge. Cross the road and weave through the old town to the square, whose most unmissable sight is the Astronomical Clock. Make sure your final 6,168th step is on the hour when a selection of figures perform around the clock; the parade includes apostles and, erm, a skeleton. 

Put your best foot forward with this walk through Italy’s most fashionable city. Head from the Fontana di Piazza Castello through elegant Zona Magenta to the Santa Maria delle Grazie where you can take in all its beautiful brickwork. Then it’s onto the Science Museum which, dedicated to Leonardo di Vinci, is more interesting than it sounds. Classical architecture beckons you with the likes of the Duomo di Milano – be sure to carve out as much time as possible to take in the intricate details on this colossal cathedral. This route takes just under an hour, covering 2.9 miles (4.7km) in 6,168 steps.

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Another water-inspired walk can be found in Amsterdam; this route takes 55 minutes covering 2.7 miles (4.4km) in 5,774 steps. Starting from the Anne Frank House, cross the canals to reach Oude Church, where you can marvel at the oldest building in the city. Pick through the streets and bridges, taking in the distinctive Dutch architecture as you go. Continue onto the Rembrandt House Museum and end this art-and-architecture-fuelled walk at the impressive Van Gogh Museum.

Fall in love with the dreamy waterworld of Venice on this 2.7-mile (4.3km) walk that takes just under an hour in 5,643 steps. From the Ca’ Pesaro International Gallery of Modern Art, wind along the canals and through narrow alleyways to the simplistic beauty of Basilica of Santa Maria Gloriosa dei Frari. Then loop back onto the famous Rialto Bridge but save your break for Ponte dei Bareteri, where you can watch gondolas glide beneath. Finish up at Punta della Dogana and stop for a bite to eat for flavours and views to savour alike.

This epic walking route should take just under an hour, covering 2.4 miles (3.9km) in 5,118 steps. The modern, French country house-style Le Corbusier House leads towards the Zürich Opera House; along the way take in sweeping views of the eponymous lake. You’ll cross Münster Bridge to reach the stained-glass beauty of Fraumünster Church and it’s around here you can either stop for a respite or charge onto the FIFA World Football Museum. A little further on brings you to Rieter Park, which is a worthy place to kick back and relax.

Leipzig easily commands a place on this top 20 list. The heavily populated city has a thousand-year-old history which is certainly the theme on this recommended walking route. Start at the botanical gardens and stroll past a roster of sights including the New Town Hall, Bach Museum, Marktplatz and the Stadtgeschichtliches Museum, culminating with a visit to Leipzig Zoo. This 45-minute walk covers 2.2 miles (3.6km) in 4,724 steps, but you could set aside a full day to give the city justice.

Make sure you pack a sturdy pair of shoes for this bumpy route; with Dubrovnik’s steep elevations, it’s worth remembering what goes down must come up. This scenic walking route starts at the historic walls and descends to the rocky outcrop that is Danče Beach. Soak up the glittering Adriatic seaviews before seeking out more historic sights, like Pile Gate. Covering almost two miles (3.2km) in 4,199 steps, this mildly challenging walk takes roughly 43 minutes.

Stretch your legs in 3,543 steps with this 1.7-mile (2.7km) route that takes 35 minutes. Your starting point is the Städel Museum from where you’ll stroll along the River Main, cross the Iron Footbridge (and admire the views) before arriving at the well-preserved Römer buildings. After a quick stop at one of the many cafés, continue towards the Main Tower and end at the Alte Oper concert hall, where you can rest easy at a thrilling jazz, contemporary or world music performance.

In a classic tale of north versus south, Manchester beat London as the second most walkable city in Europe. An attraction-fuelled walk starts at the 15th-century Chetham’s Library, the oldest public library in the English-speaking world, and onto the National Football Museum. Continue past the river, cathedral and buzzing Corn Exchange before reaching the heart of the city. Here you’ll find the People's History Museum and the fascinating Manchester Science and Industry Museum. This attraction-clad route takes roughly half an hour and covers 1.5 miles (2.4km) in 3,149 steps.

Bruges pipped Manchester to the post as Europe’s most walkable city. This medieval gem is filled with 14th-century architecture and scenic canal views. The recommended walking route starts at the cylindrical Powder Tower, through the quaint old town via Begijnhof Bridge and passing the informative Groeninge Museum along the way. Next you’ll reach the lively market square before ending at either the Choco-Story Museum or the Frietsmusem (a museum dedicated to, yep, you guessed it, fries). This short-but-sweet route takes roughly half an hour and covers 1.4 miles (2.3km) in 3,018 steps.

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This list is by no means capped at 20 – there are plenty more European cities well worth a wander. Valletta’s more strenuous walk covers 4.7 miles (7.6km) from the National War Museum along the waterfront to Fort Manoel in 9,973 steps, or you can go for a longer five-mile (8.1km) jaunt through Stockholm from Skinnarviksberget, past the Royal Palace and to the ABBA Museum in 10,629 steps. After a cooler climate? Reykjavík (pictured) in Iceland offers a 4.2-mile (6.8km) stroll from Þúfa (the 26-foot/8m tall grassy mound) past the iconic Hallgrímskirkja church to Perlan covers 8,923 steps.

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