Bruges is one of Belgium’s most important medieval cities. It is connected to the sea by its historic canal system, which results in it being described as “Venice of the North.” One look at its skyline reveals one of its most visited attractions, the Church of Our Lady, featuring a 400-foot brick tower. The outside of the chapel is just as famous as its interior, which is home to Michelangelo's Madonna and Child sculpture.

Krakow’s Rynek Główny (Main Square) originated in the 13th century as a bustling site for commerce and social affairs. The city grew significantly during the Middle Ages, especially after King Władysław I (the Short) reunited Poland and named Krakow as its capital in 1320. This is also when Jagiellonian University, Poland’s oldest university and one of its best-preserved examples of medieval architecture, was founded.

Located in the eastern Mediterranean Sea, the Old Town of the Greek island of Rhodes is a UNESCO World Heritage Site boasting one of the best-preserved medieval settlements in the world. The Street of the Knights is lined with inns that once made up the Order of the Knights. Also located here is the Palace of the Grand Masters, which is now an impressive medieval museum.

The Three Towers are the most recognizable symbol of San Marino, one of the world’s smallest countries and entirely surrounded by Italy. Each tower (Guaita, Cesta, and Montale) is located atop one of the three peaks of Monte Titano. They were built in the Middle Ages to serve as watchtowers to guard the city. These towers can also be seen on San Marino’s national flag and have been part of its coat of arms since the 14th century.

It’s hard to believe that these stone buildings were built over 1,000 years ago on an island in the frigid waters of the northern Atlantic. Known as the Fahan Beehive Huts, this series of stone buildings was constructed over 1,000 years ago as homes for monks and devout followers of St. Peter. More than 400 huts once dotted the hillside of these Irish islands. This medieval site can be reached via boat from the mainland, and visitors can experience how the monks of St. Fionan’s monastery once lived their daily lives.

Tallinn’s strategic location on the Baltic Sea allowed the city to flourish in the Middle Ages. Today, it serves as the country’s capital city, and is home to some impressive medieval sites, including the world’s oldest pharmacy, ​​the Tallinn Town Hall Pharmacy, built in 1422. The building is still open for guided tours today.

Sometimes referred to as “Medieval Manhattan,” the Tuscan village of San Gimignano had a towering skyline in the Middle Ages. Today, only 14 of the original 72 towers remain standing, but the 13th-century walls and other medieval monuments like the Palazzo del Popolo (now a museum) and the Collegiata (a cathedral) are still there. The remarkable UNESCO World Heritage Site is considered one of the best-preserved Italian towns from the Middle Ages.

While strolling through Switzerland’s scenic capital city, visitors might be surprised to find images of bears on everything from flags and water fountains to the city’s coat of arms. This comes from the medieval legend of Duke Berchtold V of Zähringen, founder of Bern, who named the city after the first animal he encountered while hunting there. Not everyone believes this tale, though. Another theory is that the name came from a former Celtic settlement, “Brenodor.”

In the 10th century, small hamlets began to emerge on the sea cliffs of Italy’s Cinque Terre, though its inhabitants were not accustomed to fishing at all, so wine production flourished instead. The name “Cinque Terre” emerged in the 15th century, named for the five main villages along the coast. Today, remnants of Cinque Terre’s medieval heritage remain, including Doria Castle and the fortified center of Monterosso al Mare.

Located near the German border in northern France, Colmar is known for its half-timbered medieval and early Renaissance buildings that line its narrow canals, which lend the town its nickname of “Little Venice.” Colmar, likely founded by rural winemakers, was first documented in the ninth century. Its picturesque fountains, churches, cafes, and gardens help make it one of France’s top tourist attractions.

Located at St. Peter’s Abbey in Salzburg, Austria, the Stiftskeller St. Peter is said to have served both Mozart and Christopher Columbus since its opening in 803 CE. However, a restaurant in Madrid, Spain, called Sobrino de Botín holds the Guinness World Record for the world’s oldest continually operating restaurant, despite opening centuries later in 1725.

Located in northeast England — about midway between London and Edinburgh — York has retained much of its medieval charm, including the small alleyways and passages built during that era. They're called “Snickelways,” a word coined by author Mark W. Jones, and they feature amusing names such as “Mad Alice Lane” and “Hole-in-the-Wall.” York is also home to the 13th-century Cathedral (Minster) of St. Peter, the largest Gothic church in England.

Located in the Transylvania region of central Romania, Sighișoara is a small town known for its most famous former resident, Vlad the Impaler — the brutal ruler who was the inspiration for the character Dracula. Teeming with medieval architecture, Sighișoara is also home to Europe’s best preserved inhabited citadel, boasting cobblestone streets, ancient church towers, and even the house where Vlad was born in 1431.

Dubrovnik is famous for its 80-foot-tall walls that encircle most of its medieval Old Town. Built for fortification, these storied walls began to take shape in the 13th century, but wouldn’t be finished until the 16th century. Today, they separate modern Dubrovnik from its historic center, which was the main filming location for King’s Landing in the hit HBO series “Game of Thrones.”

Mont-Saint-Michel is a small tidal island that was first inhabited in the eighth century, when St. Aubert, bishop of Avranches, built a small oratory for worship after experiencing a vision from archangel St. Michael. It quickly became a popular pilgrimage site. In 966 CE, a Benedictine abbey was erected. After a failed capture by King Philip II of France in 1203, the island was fortified, resulting in the striking city walls that are still seen today.

Known as Istanbul, Turkey, today, Constantinople was one of the most important cities during the Middle Ages. Its key location straddling the Bosporus Strait (connecting the continents of Europe and Asia) made it a major trade destination. Among the city’s medieval attractions is the Hagia Sophia mosque, built by Byzantine Emperor Justinian I in the sixth century.

Scotland’s charming capital city has been one of its most important for thousands of years — humans first arrived around 3,000 years ago. During the Middle Ages, a village was built on what is now called Castle Rock, a vent from an extinct volcano. At the top of this rocky mass is Edinburgh Castle, a crucial stronghold for Scotland in the Middle Ages that was frequented by prominent figures, including Mary Queen of Scots.

Few towns capture the splendor of medieval Germany as well as Rothenburg ob der Tauber does. Named for its location on the Tauber River, Rothenburg is located on the “romantic route,” one of Germany’s biggest tourist draws for its scenic location in the foothills of the Alps. This Bavarian town is known for its preserved medieval buildings, from its half-timbered houses and historic town hall to the Church of St. Jacob.

Granada was a key city during the Middle Ages, as it was the seat of the Moorish kingdom of Granada until it fell to the Spanish monarchs Ferdinand II and Isabella I in 1492. Alhambra, an impressive fortified palace, was built by the Moorish monarchs in the early 13th century. Today, Alhambra is a major tourist attraction, boasting ornate gardens, a Moorish throne room, and expansive views of the city below.

Westminster Abbey was founded in 960 CE by Benedictine monks. In 1066, it was used for the coronation of William the Conqueror, and it has been used to crown every British monarch since. Seventeen monarchs are buried in the church, as well as many famous writers and politicians. The abbey has also hosted many royal weddings and funerals.

Castles are a hallmark of medieval architecture and innovation. Situated across the Vltava River from Old Town and modern Prague, Prague Castle (also called Hradcany Castle) holds the Guinness record for largest ancient castle with a surface area of 18 acres. The original structure dates to around 880 CE, but most of its major buildings were built between the 10th and 14th centuries.