Charming Danube River cities, former European Capitals of Culture and fascinating Eastern European cities – these destinations often get overlooked in favour of bigger and glitzier neighbours, but wrongly so. From capitals overshadowed by more famous second cities to compact places few people have heard of, we take a look at 30 under-the-radar European cities to visit.

A hilltop fairy-tale castle, 14th-century cathedral, cobbled streets and ornate palaces – Bratislava has plenty of wow factor. The former capital of Royal Hungary, this Danube River city was once renowned as a major centre for classical music before communism took hold. Today, the city is proud of its historic and colourful 18th-century centre, fascinating communist-era architecture and modern, green neighbourhoods.

Bustling beer halls, hip coffee shops, peaceful parks, graceful Art Nouveau villas, old orthodox churches and mammoth communist-era structures, there's a lot to see in this Eastern European city. Highlights in Bucharest include visiting the colossal Palace of Parliament (constructed by former dictator Nicolae Ceauşescu), watching a performance in the gorgeous Romanian Athenaeum and relaxing in the pretty Cişmigiu Gardens. 

The capital of a little nation often overlooked by travellers, Luxembourg City has a fairy-tale feel about it with a grand palace overlooking quaint, cobbled streets. Surrounded by forest-clad valleys and vineyards, it's an ideal destination for gourmands – there's an impressive number of restaurants featured in the Michelin Guide, eight of which have received at least one star.

Read more about Luxembourg here

With an UNESCO-listed medieval old town, regenerated riverside and a restaurant scene offering everything from modern new Nordic to traditional cookery, there's a lot to love about the Latvian capital. It's best to get a sense of its complex history through the eclectic mix of medieval, Gothic, Baroque and Art Nouveau buildings in the handsome city centre, then head up to the spire of St Peter's Church to take in the maze of terracotta roofs from above.

Read our full guide to Riga here

One of Europe's most energetic capitals, Belgrade has plenty of buzz about it. With cool clubs (its summer barge parties along the Danube and Sava rivers are legendary), eclectic music scene, creative community and clutch of designer hotels, Belgrade is becoming quite the hip destination. Add to that the city's handsome old town, ancient citadel and regenerated riverside districts, it's a wonder this Danube River city isn't on more travellers' must-visit list.

Love this? Follow our Facebook page for more travel inspiration

It's renowned for art and culture but Vienna is all too often edged out by schmaltzy Salzburg. Those that bypass Vienna do so mistakenly. The riches of the Kunsthistorisches Museum with its Rembrandts, Vermeers and Rubens are worth planning a visit around alone. Then there's the prestigious Vienna State Opera, magnificent St Stephen's Cathedral, splendid Baroque palaces and the array of beautiful Art Nouveau coffee houses. In winter its pretty squares are usually flooded with festive markets.

Vilnius might be small but when it comes to attractions, this former European Capital of Culture is a big hitter. It boasts the largest medieval old town in central and eastern Europe with ample parks, squares, historic churches, bars, cafés and restaurants to amuse you. Walking up Castle Hill to Gediminas' Tower, the city's best-known landmark, then meandering through the winding lanes below and watching the city go by in the bustling Cathedral Square is one of the best ways to spend a perfect day in the Lithuanian capital.

Discover more about Vilnius with our guide

With plenty of museums, galleries and a lively nightlife, it's surprising that Sofia isn't on more city break hot lists. Dominated by the vast, domed St Alexander Nevsky Cathedral, Bulgaria's capital is stunning and best explored on foot to take in the magnificent buildings, from the National Theatre to former mineral baths. There are plenty of green spaces to wander around as well, like Borisova Gradina, the city's oldest park.

Take a look at the world's most beautiful cathedrals

Podgorica is another diminutive city that's unlikely to bowl you over with its beauty, but the Adriatic nation's capital is worthy of a stop en route to blissful beaches, wineries and mountains. Built around the confluence of the Ribnica and Morača rivers, Podgorica has striking bridges, pretty parks and some remainders of its Ottoman-era old town, such as the 17th-century Clock Tower. Petrović Castle, set within a lovely park in the charming Kruševac area, houses the city’s Centre for Modern Arts.

The sun-drenched Mediterranean archipelago might be best known for its beaches, but the ancient capital is equally alluring and perfectly proportioned for a weekend break. There are lavish palazzos and centuries-old churches, such as the awe-inspiring St John's Co-Cathedral (which contains original paintings by Caravaggio). The formidable Grand Harbour is a highlight – the Upper Barrakka Gardens are great for panoramic views over this former European Capital of Culture.

Read our guide to Valletta here

Straight out of the pages of a fairy-tale book, little Liechtenstein is one of Europe's least-visited countries. The German speaking principality sits between Switzerland and Austria, and its capital Vaduz is surrounded by some seriously majestic alpine scenery. Views aside, its best-known landmark is the 12th-century Vaduz Castle, the official residence of the Prince of Lichtenstein.

Take a look at stunning images of Europe's most adorable small towns

Declared the Turkish capital after the fall of the Ottoman Empire in 1923, cosmopolitan Ankara typically loses out to package holiday destinations or alluring Istanbul. But the city has a fascinating history beyond its status as the capital and its mix of modern and historical architecture is very telling of its past. Ankara Castle, Museum of Anatolian Civilizations and Anıtkabir – the mausoleum of the first president of the Turkish Republic, Ataturk – are among the best historic attractions, while the sprawling Gençlik Park has an amusement park, two miniature trains and over 40 kiosks selling all manner of wares.

With its well-preserved medieval old town, snow-covered Alpine backdrop and the pretty River Aare, Bern is a lovely city. The laid-back vibe means it doesn't feel like a bustling capital – and all the better for it. The arcaded streets of its UNESCO-listed historic area are perfect for pottering, with plenty of small shops and cafés. Top attractions include the Zytglogge (clocktower), Gothic Bern Minster, Museum of Fine Arts, Einstein House and the Einstein Museum.

The capital city of Europe's least-visited country (and third-smallest state) sits perched on the slopes of Mount Titano and commands amazing views of the Appenines. The car-free medieval centre of Città, as it's commonly known, has ancient arches, ramparts and palazzi to explore. It might be small but, as one of the world's oldest republics, it's steeped in character and history.

These are the world's most beautiful medieval cities

Most visitors arriving in Ljubljana pass through quickly en route to Lake Bled and the Julian Alps. Big mistake – the city has one of the best-preserved medieval old towns in Europe, a vibrant festival scene, cutting-edge art galleries and sophisticated restaurants. The traffic-free historic centre is a delight to explore with its mix of Renaissance, Baroque and Art Nouveau architecture. The hilltop castle offers excellent views while the National Museum of Slovenia houses some of the country's most prized and ancient treasures.

Often shunned in favour of Arctic cruises and quaint Bergen further up the coast, Oslo has slowly been raising its profile. With a compact and walkable historic centre, leafy green spaces and cutting-edge modern architecture, there's lots to love about this Nordic capital. Some of the top things to do here include walking up the roof of the ultra-modern Oslo Opera House and checking out the nearby Deichman Library, plus kayaking down the Oslofjord or exploring the islands and enjoying the city's bar scene.

Read more about Oslo in our guide

The political centre of Europe, there's much more to Brussels than just the seat of the European Parliament and home to many other EU institutions. It's packed with museums and some of Europe's best architecture. The imposing Grand Place is a good way to start exploring the city and its quaint charm. The Musée Fin-de-Siècle is great for art lovers, while the Belgian Chocolate Village, an enormous space dedicated entirely to chocolate, is a must for those with a sweet tooth.

Founded by the Ottomans in the 15th century, Bosnia and Herzegovina's beautiful capital retains a lot of its Turkish heritage, especially in its atmospheric old bazaar and historic centre Baščaršija. Known as the Jerusalem of Europe because of its religious diversity, with a Catholic church, synagogue and mosque sitting side by side, this is a place to saunter from cafés to its souk-like stalls. The Tunnel of Hope museum just outside the city centre is an excellent place to learn what life was like during the 1992-96 siege, following the declaration of independence from Yugoslavia.

Check out our guide to Sarajevo

There's a great energy about this proud city in Northern Ireland that is all too often overlooked. However, Belfast has its fair share of friendly pubs, traditional live music venues and world-class attractions, such as the Titanic Belfast, Ulster Museum and The MAC culture centre. St George's Market is a must-visit for sampling Northern Irish produce. Time to spare? The magnificent Mountains of Mourne and the Giant’s Causeway are a short drive away.

Discover the UK's most stunning natural wonders

Quaint Kraków might steal the limelight, but those in the know go to Poland's capital Warsaw. Heavily bombed during the Second World War, the painstakingly rebuilt medieval old town (now an UNESCO World Heritage site) is a remarkable feat and a wonderful place to explore. Another noteworthy landmark is the striking Monument to the Warsaw Uprising – the painful history behind it is well-documented at the excellent Warsaw Rising Museum. It also has elegant parks, most notably the Royal Łazienki Park with its Neoclassical palace.

The capital of Armenia is one of Europe's least-known cities and all the more intriguing for it. Its skyline is dominated by Mount Ararat, the symbol of Armenia. Visitors can climb to the top of The Cascade stairway for spectacular city and mountain views or meander through the narrow lanes of the old quarter before seeking out somewhere to try khoravats (traditional barbecued meat). A harrowing but important visit is The Armenian Genocide Museum and its moving memorial.

It might not have entirely escaped the eye of tourists but it's fair to say the capital of this small Caucasus nation isn't one of Europe's big hitters. Those who do visit congregate in the delightful old quarter where most of Tbilisi's historical sights (including Narikala Fortress), cafés, bars, museums and charming streets are to be found. Incredible food and wines are another huge reason to seek out this city. Those looking to relax should check out the city's traditional hot sulphur bathhouses.

There's no doubt Dubrovnik overshadows the rest of the country so those seeking a quieter escape should look towards Croatia's inland capital. Located along the Sava River and framed by Mount Medvednica, Zagreb might not have beaches, but it does have all the pillars of a great city break: a charming cobbled old town, wonderful food and a fantastic art scene. Once its most famous sights – namely the twin-spired Zagreb Cathedral and colourful St Mark's Church – are ticked off the list, there's a maze of cute backstreets to explore.

Sitting at 3,356 feet (1,023m) above sea level, this is the highest capital city in Europe – and one of the smallest. Wedged between France and Spain, mountainous Andorra is mostly known for its ski resorts, but Andorra la Vella is worth a visit for different reasons. There are some great boutiques, reputable restaurants and well-preserved Romanesque architecture. One of the city's most significant buildings is 16th-century Casa de la Vall, which was the seat of the Parliament of Andorra from 1702 to 2011.

The cafés, mosques and stall-lined, winding streets of Stara Čaršija (Skopje's old hillside bazaar) are the best place to soak in the North Macedonian capital's history and culture. Most of the city's Ottoman- and Byzantine-era sights sit across the 15th-century Kameni Most bridge, including traditional bathhouses and Fortress Kale. From its ramparts, a stunning view opens up over the old town and across the Vardar river to the city’s modern buildings.

Take a look at Europe's most beautiful castles

Cyprus is known more for beach holidays than sophisticated city breaks but exploring its split capital (the only divided capital in the world) is a real insight into ancient and modern Cypriot culture. The southern half of the city (known as south Nicosia among locals, Nicosia in English and Lefkosia in Greek), is the capital of the republic while the northern half, known as Lefkoşa, is Turkish-occupied. Top spots include the old quarter of Laiki Geitonia, the Cyprus Museum with its archaeological treasures and charming cafés serving traditional pastries.

A blend of brutalist Soviet buildings and modern high-rises, Chişinău might lack the architectural riches of some European capitals but it has charms of its own. The city is surprisingly leafy with lovely parks and a clutch of interesting museums. Some pre-Second World War buildings remain, including a 19th-century orthodox cathedral with beautiful frescoes. The cathedral square is a lovely place to wander around the open-air flower market, bars and restaurants, and sample some of the famed Moldovan wine.

One of the last European countries to shake off communism, Albania's capital has a certain charm with wide avenues and brightly coloured buildings. The Albanian National Museum and the National Gallery of Arts are both well worth a visit, as is the Et'hem Bey Mosque, one of Tirana's last remaining examples of Ottoman architecture.

Now check out amazing photos of Europe viewed from above

Stockholm and Copenhagen tend to overshadow Helsinki when it comes to Nordic city breaks, but this cool capital has plenty to offer. Great museums, striking buildings (like Finlandia Hall overlooking Töölönlahti Bay and Sibelius Monument), cool boutiques and hip designer hotels make Finland's capital a more-than-worthy contender. There's a pretty harbourside area, the UNESCO-listed island fortress of Suomenlinna, a fantastic food scene and a plethora of saunas too.

With its 13th-century walled old town – all cobblestone streets, quaint courtyards, medieval spires and pastel merchants' houses – and pretty position on the Baltic Sea, Tallinn is a serious looker. It's garnered a reputation as a place for cheap beer and late-night bars but there's far more to it. The hip Kalamaja district is excellent for restaurants, cool shops and the brilliant maritime museum Seaplane Harbour.

Read more in our guide to Tallinn