Yes, London, Paris and Tokyo deserve a place on your bucket list. But there's something to be said for the overlooked, smaller cities. There's a joy in strolling narrow streets and sipping coffee in a charming square or exploring under-the-radar urban spaces. Here are 30 of the world's most overlooked cities that you should visit now.

A port city on Colombia’s Caribbean coast, Cartagena de Indias is a blend of Afro Caribbean, Spanish and South American cultures. The crumbling and colourful walled old city with pretty cobbled streets is best explored in the evening when the sticky heat has cooled a little. Once considered a dangerous destination, Cartagena today has far less street crime than other Colombian cities.

Scotland’s fourth city hasn’t always been high on the list of places to visit in Scotland, but Dundee’s fortunes are changing. The £80 million V&A Dundee (pictured) opens in September and will be the jewel in the crown of Dundee’s £1 billion waterfront redevelopment. The UNESCO City of Design is a destination on the up. Read our guide to Dundee here.

In the historic centre of Évora stand the Roman ruins of the Temple of Diana, backed by the 17th-century church Igreja de São João Evangelista. Évora survived the 1755 earthquake that destroyed Lisbon and today its walled centre, narrow streets and whitewashed houses are an open-air museum declared a World Heritage Site by UNESCO. Discover more of Portugal with our guide here.

Travellers who venture off the well-trodden path between Delhi, Agra and Jaipur discover an evocative land of Mughal princes and maharajas. Bikaner lies in the Thar (Great Indian) Desert and is a far less touristy city than Jaisalmer for embarking on a camel safari. It also boasts Junagarh Fort, one of the most magnificent forts to visit in Rajasthan.

This historic little city has been hitting the headlines as the “new Berlin”, and while it’s true that the arts and alternative scene is flourishing, it’s classical music that put Leipzig on the map. Bach, Mendelssohn, Schumann and Wagner all lived here, and you can watch world-class performances at the Opera House and Gewandhaus.

Before you race up the east coast with the rest of Australia’s tourists, consider a visit to Tasmania, a remote and rugged island 150 miles south off the coast of Melbourne. Its charming and historic capital Hobart (which is considering adopting its Aboriginal name, nipaluna) has a beautiful setting in the foothills of Mount Wellington and at the entrance to the Derwent River. It's perfectly placed to explore the entire island.

The capital city with the difficult-to-pronounce name, Ljubljana (loob-lee-ana) has always been a small-time player compared to other European capital cities. It’s been over a decade since Ljubljana banished cars from the centre and its green spaces and bridges are a cyclists’ delight.

The small city of Sheffield is often overlooked by those seeking a glitzier weekend city break, but the charms of this once industrial powerhouse are worth seeking out. Wonderful public spaces include the Peace Gardens (pictured) and Winter Garden, plus there’s a friendly and independent spirit to the place. Sheffield is also the gateway to the dramatic Peak District National Park.

Crowds and cruise ships make a beeline for Bruges, leaving artsy Antwerp relatively untouched by tourism. Touted as the capital of cool, Antwerp is at the forefront of food, fashion and art, but it was founded as a port city and you should make time for pottering about on the river. Read our guide to Antwerp here.

Valparaíso sees fewer visitors than Santiago but for a true Chilean experience, a visit to this cheerful city shouldn’t be missed. The bohemian seaside city was the inspiration for famous Chilean poet Pablo Neruda (don’t miss the museum dedicated to him) who loved its scruffiness and colourful hillside houses. Much of Valparaíso is being rejuvenated with restored houses opening as restaurants, cafés and galleries.

Montenegro might not be high on your list of must-visit places, but for anyone looking for a hidden spot on the Adriatic, it should be. The fortified old city of Kotor sits on an outstanding natural harbour and its romantic narrow streets overlook the turquoise Kotor Bay.

Anyone planning a trip to Ireland needs to set their sights outside Dublin, where it’s increasingly difficult to find affordable accommodation. Cork has a similar small city, walkable vibe, with great pubs and live music, but it’s also the entrance to Cork County, a craggy and beautiful corner of rural Ireland.

The big cities in the USA grab all the headlines, but to really understand America and its history, pay a visit to the charming city of Charleston. Instead of high-rises, you get Antebellum houses, horse drawn carriages and historic churches.

Luxor was once an ancient Egyptian city called Thebes which was ruled by powerful pharaohs including Tutankhamen (1333–23 BC). Today, the Nile still flows alongside the modern city and the grand Luxor temple complex that lent the city its name.

Too many people skip Hué in their haste to get to Hoi An, but you shouldn’t overlook Vietnam’s one-time capital. The evocatively named Perfume River meanders past tombs and pagodas built by leaders of ancient dynasties and Hué resonates with days gone by.

All of China knows that Hangzhou is a sensational city break destination, but it’s relatively unknown to the rest of the world. The “tea capital” of China, it has a dreamy setting on the misty mountain-fringed West Lake and the atmospheric city has been inspiring writers and poets for centuries.

The city of Nelson has a small-town feel and is the kind of place that reveals its secrets slowly. It has the Maitai River and the awesome Tahunanui city beach. It’s got craft markets, small breweries and cool coffee shops. Take a trip to Abel Tasman National Park and Golden Bay – two places with some of the most breathtaking roads to drive in New Zealand.

This enchanting city in the south of France oozes all the sophistication of Paris, with better weather. Grand esplanades, pedestrianised squares and a medieval old town all jostle for attention in Montpellier, a city just a few miles from the shores of the Mediterranean.

Durban is the hipsters’ city of choice in South Africa. It has an extensive beachfront known as the “Golden Mile” and is blessed with far warmer waters than Cape Town, so surfing is a delight. What’s less known is that Durban has the largest Indian population outside of India, so you should make a beeline to the Indian quarter for incredible food.

When you think of city breaks in Spain, Madrid or Barcelona are the obvious choices. But for a small city experience, head to the Basque country and San Sebastián. It’s got seaside, Art Nouveau architecture and a second-to-none food scene.

Sitting on the St Lawrence River in Québec province in southeastern Canada, you’ll find one of the largest French speaking cities in the world. The cobblestone streets of Old Montreal (Vieux-Montréal) and its Notre Dame Basilica steal the thunder of the bustling and cosmopolitan downtown and its unique underground city. But wherever you are in Montreal, try indulgent poutine (chips, cheese and gravy).

Belém is a relatively unexplored metropolis as it sits in the remote and vast Amazon River delta in Brazil’s far north. You’d think somewhere so isolated would be a backwater, but not so. Belém was established by the Portuguese and it has the ornate Nossa Senhora de Nazare Cathedral, plus plazas and grand tree-lined streets that have plenty of lively bars and restaurants open until the early hours.

Everyone goes to Marrakesh. But for a Moroccan break that’s a little more relaxing, set your sights on the Atlantic port city of Essaouira. Its medina is far easier to navigate than the convoluted souks of Marrakesh, plus it has a vast, white-sand beach.

Sapporo sits on Japan’s northern island of Hokkaido and off the tourist trail of Tokyo and Kyoto. It’s well worth the effort to get there, especially in winter when the ski resorts dotted around the city open their slopes for the season. There's also an incredible snow festival with illuminated ice sculptures.

Copenhagen, Stockholm and Oslo dominate the Scandinavian city break destinations. But Gothenburg is a better-kept secret. The stylish and cosmopolitan city has a thriving arts scene, more craft beer than you could ever hope to try and the famous Feskekôrka (fish church). Best of all, it has the dazzling Gothenburg archipelago waiting to be explored just offshore. Scandinavia doesn't have to be expensive, either: find out how here.

In northern Thailand, Chiang Mai is the main event and Chiang Rai is often overlooked by visitors. This is starting to change as travellers are waking up to Chiang Rai’s laid-back vibe, great value riverside accommodation and stunning temples – don’t miss Wat Rong Khun, a unique modern “white” temple created by artist Chalermchai Kositpipat. It’s also a great base to organise trekking into the surrounding jungle-clad mountains.

Oman is a burgeoning travel destination and unlike the brash and moneyed capital cities in the neighbouring United Arab Emirates (UAE), Muscat remains a seaside resort at heart – albeit one on the Arabian Sea. Muttrah Corniche is a gorgeous crescent-shaped district on the waterfront with white-washed houses and colourful minarets.

Majorca is known more for beach holidays than sophisticated city breaks. But spend time exploring capital Palma’s marina, modernist architecture and grand Gothic cathedral and you’ll see another side to the island. It’s a cosmopolitan and bustling place with an exciting contemporary arts scene and plenty of atmospheric tapas bars in the labyrinth of back streets. Read our guide to Palma here.

The diminutive country of Uruguay, nestled between the powerhouses of Brazil and Argentina, is often only used as a visa run for travellers in Buenos Aires. But Colonia with its UNESCO old town, Spanish and Portuguese architecture, and great food scene is a pretty place to explore.

The smallest city in the UK is easy to overlook. It’s tiny. Tucked away on the far tip of Pembrokeshire in Wales, it has a population of just 1,600. The city (which is really only a village) has a fascinating history based around the 6th-century cathedral founded by the Patron Saint of Wales. St Davids’ quaint streets are a pleasure to wander and the surrounding coastal scenery is well worth an amble. Find out what to see and do in Britain's smallest city here.