So, it turns out you don't need a time machine to travel back to the Middle Ages. Just head to Rothenburg ob der Tauber in Bavaria, probably the most popular stop on the Romantic Road, to amble amongst the historic landmarks of its well-preserved Old Town instead.

With a current population of just over 11,000, it may seem small but it was once one of the most powerful city states around. It fell on hard times in the 17th century, when it was captured by Catholic forces. A legendary drinking challenge involving the Mayor and over three liters of wine is said to have saved it from destruction.

Liked this? Click on the Follow button above for more great stories from loveEXPLORING

Now see the world's most beautiful coastal towns and villages

The most beautiful mountain towns on Earth