Málaga to Bilbao

Málaga has at times had its reputation dragged down by association with the overdevelopment and high rise horrors of the Costa del Sol, which is a great shame, as there is plenty to satisfy the discerning traveller. The labyrinthine historic centre is right next to the cruise port, and has been given something of a makeover in recent years. Nowadays there are plenty of chic restaurants and bars where you can ease into the rhythms of life in southern Spain, before exploring sights including the intriguing, unfinished Gothic cathedral, and a museum devoted to Málaga's most famous son, Pablo Picasso.

Sovereignty of ‘The Rock’ has been a thorny issue ever since Gibraltar was ceded to Britain in 1713, though on the ground it’s clear where most locals’ sympathies lie. Gibraltar is often described as ‘more British than Britain’, a curious enclave of red postboxes, double decker buses and chip shops.

The crumbling, sun-baked seafront city of Cádiz is said to be the oldest continuously inhabited settlement in the western world, founded by the Phoenicians around 1100 BC. Although the city lacks any obvious landmarks, it’s rich in atmosphere, and plays host to one of Spain’s most colourful carnivals.

Spread across steep hillsides that overlook the Rio Tejo, Lisbon’s colourful cityscape includes Gothic cathedrals, majestic monasteries and quaint museums. But for many the best times will be had wandering the narrow lanes of Lisbon’s lovely backstreets, with their great local food, wine and music.

Blessed with a dramatic setting on the steep banks of the river Douro, Portugal’s second city is currently enjoying something of a renaissance, and is best known as the home of the country’s most famous export, port wine.

Vigo is the biggest city in Galicia, Spain’s verdant northwest corner. The city itself is a busy fishing port with limited tourist appeal, but it’s a great base for striking out into the countryside, visiting the lovely Cíes Islands just offshore or joining the pilgrims in Santiago de Compostela, 60 miles to the north.

Gijón is the largest city in the Asturias region of northern Spain, an important industrial port but also a lively and youthful place, ideally positioned for exploring the Costa Verde. The most interesting area is the historic fishing village of Cimadevilla, which sits on a peninsula that divides the bay in two.

It’s not so long ago that Bilbao was a grim and unappealing place, scarred by heavy industry, but the Basque Country’s biggest city has reinvented itself as a cultural hub since the opening of the shimmering Guggenheim Museum in 1997.