Whether strolling along a river, seeking respite in a café on a beach boulevard or enjoying amusements on a pier, waterfronts are some of the best escapes from the hustle and bustle of a city. From tranquil parks to thrilling attractions right by the water, we bring you the best waterfront cities in America.

Only an hour's drive from Houston lies Galveston Island and the island city of Galveston. With 32 miles (51km) of shore to discover, Galveston is a top beach destination. The Pleasure Pier on South Beach offers good old-fashioned seaside entertainment like carousels, roller coasters and a Ferris wheel. Check out the historic homes in the downtown area, take a stroll along Broadway Boulevard and finish the day with a drink at one of the many restaurants.

The Golden Gate Bridge might be San Francisco's most obvious landmark but the city is also known for its many piers along the waterfront. Pier 39, constructed in 1977, is without a doubt the most famous, attracting tourists with wacky street performers, colourful amusements, gift shops and the famous sea lions, catching sunshine on the pontoons near the pier. For a bit more peace and quiet, head to Pier 7 – excellent for ocean views and the upscale Waterfront Restaurant.

Stretching more than 3,000 feet (1,010m) into Lake Michigan, the fun Navy Pier has become one of Chicago's most popular attractions. Built in 1916, it's been used as a dock and a navy training centre until it was remodelled into a leisure complex in 1995. The pier is free to wander and there are plenty of amusements, shops, restaurants and exhibitions to explore. When in the Windy City, don't forget about the Chicago Riverwalk either – a pedestrian waterfront on the south bank of the main branch of the Chicago River with park seating, boat rentals and restaurants.

A major thoroughfare, stretching from South Pointe Beach to 15th Street, Ocean Drive lines Miami Beach's South Beach with palm trees and pastel-hued Art-Deco hotels. Arguably one of the most well-known spots in Miami, Ocean Drive has been featured in countless films and TV shows. It's also packed with things to do – start the day at the Art Deco Welcome Center and join a walking tour; rent a bike from one of the many spots along the beach; and dine at Mango's Tropical Cafe, Ocean Drive's most famous institution. 

Thanks to its sandy beach and Atlantic Ocean views, Coney Island is one of New York City's best escapes. A hot spot since the early 1900s, Coney Island and its boardwalk can be reached from Midtown Manhattan in about an hour on the subway. Today, Deno's Wonder Wheel is still twirling and legendary Nathan's Famous still serves its iconic hot dogs. Bigger and faster attractions as well as the New York Aquarium have risen up all around it, but it's the nostalgia and the creaky, low-tech amusements that keep visitors coming back.

Strictly speaking, New York's East River isn't a river at all, but rather an estuary and a spur of the Hudson. Nevertheless, the parks which back the Brooklyn-side shore offer an urban oasis with plenty of walking routes, picnic tables and river views. Start at Main Street Park by Manhattan Bridge and catch beautiful vistas of the Brooklyn Bridge. Then head under the bridge, grab a lobster roll at Luke's Lobster and take in the splendid views of Lower Manhattan from Brooklyn Bridge Park. Plan a New York City break with our guide.

Flanking the San Antonio River, the cobblestoned Paseo del Rio (River Walk) snakes serenely through the city centre, overhung with lush cypress and oak trees. Lined with countless bars, shops, restaurants and museums as well as five historic missions, the River Walk is one of San Antonio's most-visited spots. Spring is an especially great time to pass by as flowery floats adorn the river during the Fiesta San Antonio. Discover more reasons to visit the city here.

Today, Savannah might be more famous for its antebellum architecture, historic squares and moss-draped oak trees but it was a strategic port city during the American Revolution and the American Civil War. One of the best ways to explore this side of the city's history is to head to River Street. It's rich in historic sites, boutique shops and quaint hotels, plus restaurants and bars that serve food and drink with a side of Southern hospitality. Savannah Riverboat Cruises set sail from River Street multiple times a day.

Often tipped as the East Coast's answer to the Las Vegas Strip, Atlantic City's Boardwalk dates back to the 1870s and still pulls in tourists today with its cute shops, ocean vistas and a handful of casinos. Stay dry with a sunset walk or make a splash on the beach with activities such as kayaking and surfing. If you're coming with kids, there are plenty of family attractions too – the Steel Pier is sure to be a favourite.

A short drive from LAX and still within Los Angeles County, Santa Monica is loved for its vibrant downtown area, dynamic dining scene and, of course, the famous pier and humming promenade. The red and yellow Ferris wheel is the star of the show at the Santa Monica Pier. A buzzing family playground, you'll find an aquarium, a classic games arcade and all manner of rides here. History buffs should join one of the free historical walking tours that run on Saturdays and Sundays. Find out more about LA's neighbourhoods in our guide.

Right next door to Santa Monica, Venice is another unmissable LA destination. With its bustling boardwalk and powder-white sands, Venice Beach has no trouble pulling in the crowds. Take in the street performers and souvenir hawkers on the boardwalk, before settling on the sand, ice cream in hand. Once you've had your fill of the beach, head over to the palm-lined Venice Boardwalk, where you can get anything from a tattoo to a tarot reading. Or people watch at Muscle Beach, a famous outdoor gym. Now take a look at our guide to LA's best beach areas.

Dubbed DC's newest day trip destination, The Wharf is a recently re-developed mile-long (1.6km) stretch along the Potomac River. The Wharf is already proving to be one of the hottest DC destinations for top seafood restaurants, one-of-a-kind boutiques and ice-skating in winter. There are several places to hear live music too, including The Anthem, a 6,000-people-capacity concert venue. The second phase of the development expected to finish in 2022. Here's how to plan a trip to DC.

Cincinnati is an unexpectedly excellent city to discover on foot, partly thanks to the ten-mile-long (16km) Ohio River Trail that connects a series of parks spread out along the north bank of the Ohio River. The trail takes in Cincinnati landmarks like the Paul Brown Stadium and the Great American Ballpark (home to the NFL's Bengals and the MLB's Reds, respectively), as well as the imposing John A. Roebling Suspension Bridge.

A 30-minute drive from bustling Tampa, Clearwater is a sunny, relaxed and utterly Floridian destination. As well as the impeccable sands of Clearwater Beach, there's Pier 60 – a 1,080-foot (329m) fishing and recreational pier with souvenir and ice cream stalls. Don't miss Sunsets at Pier 60 while you're here. The daily festival opens two hours before and after sunset, and features buskers, street performers and craft stalls.

With its prime lakeside location, sleek modern buildings, Victorian warehouses and revamped waterfront, Milwaukee is easy on the eye. Come summer, it’s heaving with festivalgoers but out of high season, join a relaxed tour through downtown. Wander along the multi-million dollar RiverWalk development, passing restaurants, brewpubs, shops and RiverSculpture!, an outdoor art gallery with permanent and changing exhibitions.

Flanked by the Monongahela River to the south and Allegheny River to the north, downtown Pittsburgh is beautifully framed by the two as they join up to meet the Ohio River. The Pointe State Park and its impressive fountain at the three-river meeting point is an unmissable spot in Pittsburgh. It's also part of the Three Rivers Heritage Trail, a multi-use riverfront trail system spanning a total of 24 miles (38.6km), that connects the city's neighbourhoods, business districts and attractions.

It's understandable that Myrtle Beach's beachfront is buzzing with things to do and see as it's the centre of the Grand Strand – a continuous 60-mile (96.5km) stretch of beach in South Carolina. The heart of downtown Myrtle Beach is the 1.2-mile (1.9km) Boardwalk and Promenade. Opened in 2010, there's everything from classic amusements and the Myrtle Beach SkyWheel to top hotels, superb restaurants and attractions for all ages.

Historic Penn's Landing and the Delaware River Waterfront in Philly are home to parks, outdoor venues, museums and pop-up beer gardens. Encompassing parts of several of Philadelphia's neighbourhoods, including Old City and Society Hill, the waterfront also offers awe-inspiring views of the Benjamin Franklin Bridge. There are always plenty of events going on as well, from outdoor yoga and free movies to festivals.

A resort city in New Jersey, Wildwood sits on a barrier island and is known for its wide, sandy beach and the Sightseer tram car that runs along the Wildwood Boardwalk. An unmissable experience is the sprawling Morey's Piers. Covering six blocks, this beachfront amusement park has more than 100 rides and attractions as well as seasonal water parks. Founded in 1969, it offers the perfect combination of classic seaside amusements and thrilling, modern rides. Now take a look at America's most charming seaside towns.

Up the coast from LA is the chilled-out city of Santa Cruz and its Beach Boardwalk. Kitsch and colourful, the boardwalk's origins date back to 1865 when John Leibrandt built a bathhouse here. Amusements and refreshment stands soon began to surround the baths and gradually the boardwalk morphed into the pleasure park we see today. The chintzy carousel is a crowd-pleaser, as are the corn dogs. Once you've had fun at the boardwalk, head over to Santa Cruz Wharf to make friends with the resident sea lions.

At the heart of Reno's urban regeneration, the Riverwalk District is home to an array of shops, restaurants, bars and entertainment venues. Following both banks of the Truckee River for half a mile (800m), the scenic Riverwalk is the go-to area for art galleries, top eateries and retail therapy in Reno. There's also the Truckee River Whitewater Park, offering kayak rentals and rafting trips.

Hollywood, just north of Miami, is known for its fun Floridian atmosphere and Atlantic Ocean-facing beach which has much more than just sunbathing on offer. The 2.5-mile (4km), palm-lined Beach Boardwalk has plenty of bars, restaurants and boutiques to keep you entertained. Alternatively, rent bikes or roller-skates to explore this stunning stretch of Hollywood – a new path has separate lanes for walkers, cyclists and joggers. Discover more of Hollywood on a south Florida road trip.

While there's no distinct waterfront walk or promenade stretching along Lake Erie's coast, Cleveland's lakeside area has undergone a major transformation in the last few years. Edgewater Park, home to a sandy beach, pier and a viewpoint facing the gorgeous cityscape, is now more accessible thanks to the new Lakefront Bikeway. Meanwhile, the North Coast Harbor Walkway connects attractions like the Rock & Roll Hall of Fame, the Steamship William G. Mather Museum and the Great Lakes Science Center. Find more things to do in Cleveland with our guide.

Facing Lake Erie and Canada across it, Buffalo's lakeside and Buffalo River's waterfront was once a slightly neglected part of town. That's all changed now with the multi-million Canalside development. It offers more than 200 acres of green spaces and hosts festivals and ice skating on the canal in winter. Attractions here include Explore & More Children's Museum as well as the USS The Sullivans destroyer and the USS Little Rock cruiser. Find the most underrated cities in America here.

The main highlight in Virginia Beach is obviously the beach and the golden stretch is backed by an equally brilliant three-mile (4.8km) boardwalk. The promenade has a cycling and jogging lane, plus restaurants and beach bars aplenty. Don’t miss the giant statue of Neptune and be sure to stop at the Surf & Rescue Museum for a little ocean history. Get up early at least once on your trip – the sunrises over the ocean are mesmerising and you might even spot passing dolphins. Here's why Virginia Beach is a great holiday destination.

With the Tom McCall Waterfront Park to the west and the Vera Katz Eastbank Esplanade to the east, Willamette River’s waterfront is Portland’s go-to destination for cycling, jogging, relaxing walks and weekend picnics. While the Eastbank Esplanade is great for scenic views of downtown Portland, the Tom McCall Waterfront Park includes attractions like the Oregon Maritime Museum and Portland Saturday Market. Visit the open-air market and shop for crafts like upcycled jewellery and handmade ceramics.

Once a major warehouse district, Oklahoma City's Bricktown is now an entertainment hub with several attractions, shops and restaurants. The garden-lined Bricktown Canal curves its way through the area for a mile (1.6km) and connects parks with cafés and boutiques now housed in the historic red brick warehouses. Don't miss the Oklahoma Land Run Monument – a series of life-sized horses, pioneers and wagons cast in bronze, dedicated to the first land rush into the Unassigned Lands in 1889.

Running along the Detroit River, the RiverWalk stretches from the Ambassador Bridge in the west to the scenic Belle Isle in the east. The walk connects parks, plazas, pavilions, pathways and open green spaces all along the river, and spans more than three miles (4.8km). Bike, jog, walk or even fish along the waterfront, plus enjoy the views of Michigan's tallest building, the Renaissance Center, as well as Canadian city Windsor across the water.

Boston has no shortage of superb attractions and its Waterfront district is no exception. A series of walkways connect marinas, restaurants and hotels along the Boston Harbor, as well as the New England Aquarium, the Boston Tea Party Ships & Museum and the Christopher Columbus Waterfront Park. Once you've taken in all of the city's historic attractions, head over to the Charles River Esplanade for a relaxing stroll – just watch out for the geese. Discover more things to do in Boston here.

The go-to spot for seafood and spectacular views, Seattle's Waterfront neighbourhood is peppered with top attractions. Start the morning at Pike Place Market. More than just a fish market, it's one of Seattle's most-loved spots, as is the Ye Olde Curiosity Shop which sells all manner of souvenirs. Opposite Pike Place Market, sip a coffee at the original Starbucks outpost before soaring up into the air aboard the Seattle Great Wheel for breathtaking views of the Olympic Mountains and the city. Explore Seattle with our guide.