Built into a rock face in the Monts de Vaucluse, Gordes is one of Provence’s prettiest hilltop villages. Its narrow streets, lined with pastel-coloured terracotta-roofed houses, snake up to a medieval castle. The views across the rolling fields below and the Luberon massif are spectacular. A lively market is usually held every week near the castle, where stalls are stacked high with the finest Provençal produce.

Straight out of a fairy tale, the medieval rock fortress of Monemvasia lies at the end of a narrow causeway off the southern tip of the Peloponnese, surrounded by the Aegean Sea. Dubbed the Gibraltar of Greece, the natural rock fortress has been inhabited since the 6th century and been under Byzantine and Venetian rule. Today, the island has an upper and lower town. It's little but crammed with an extraordinary amount of churches and monasteries.

Pretty-as-a-picture Port Isaac is a traditional fishing village set on the rugged cliffs of Cornwall’s north coast. Its narrow streets are lined with whitewashed cottages that stack up the hillside while little boats bob in the harbour. Local fisherman still bring in their haul of fish, crab and lobster to sell. Unsurprisingly this sweet little village has featured in numerous films and TV series, including Poldark and Doc Martin. These are the UK's prettiest towns and villages.

Clasping onto rocky cliffs that tower above the Rhumel river, Constantine seems to defy gravity. Algeria’s third city is often dubbed the City of Bridges, thanks to its four classic structures which span the gorge. The most famous is the Sidi M’Cid suspension bridge, which was the highest in the world when construction finished in 1912. Constantine has a far-reaching history: this rocky plateau, which creates a natural fortress, has been occupied since Neolithic times. It was also a Roman settlement and named after Constantine the Great.

Poised precariously above the Martorano river in southern Italy’s Campania region, the age-old village of Sant’Agata de’ Goti has a unique position and undeniable beauty. With one side bordered by the impregnable walls of the gorge, it has had an advantage over enemies since it was first founded by the ancient Samnites. The settlement was later taken over by the Romans and the Goths. Today it's a charming and traditional town with a Norman castle, old churches and shops along its warren-like streets selling local olive oil, wines and a native apple called mela annurca.

Picture a Greek village and it’s likely to look a lot like Santorini’s capital Fira. Here pristine whitewashed houses and blue-domed churches tumble down cliffs that encircle the startling blue waters of the caldera (volcanic crater). The chi-chi town has some blissful boutique hotels, many of which are in traditional cave-like houses carved into the rock, and plenty of viewpoints to lap up the scenery. For spectacular views of the sun setting over the Aegean, a walk along the clifftop path to nearby Oia – another cliffside stunner – is a must.

Cuenca’s Hanging Houses (or Casas Colgadas) typically draw thousands of tourists each year, eager to catch a glimpse of the balconied homes perched precariously over the sheer cliffs. A World Heritage Site, the city in Castile La Mancha was built by the Moors in the 12th century and sits dramatically above the gorges of the Huécar and Júcar rivers. Some of the best views can be seen from Saint Paul Bridge.

Rocamadour’s houses, chapel and oratories seemingly cling to the limestone cliff in a staggered fashion, rising 1,500 feet (457m) above the Alzou River canyon. Stone gateways lie at the foot of the village, from where visitors and pilgrims wend their way along the village's only street before clambering up the Grand Staircase (216 steps) to a little square. This is where the Sanctuary of the Black Virgin lies and the castle which watches over the sacred site. The village was one of the four most important pilgrimage sites in medieval Christiandom.

In the northeast of Puglia, the Gargano Peninsula has its fair share of scenic settlements, including pretty Vieste. The lovely seaside spot is built on a sheer limestone cliff overlooking the sparkling Adriatic Sea. It has a delightful medieval old town with whitewashed houses and a network of little lanes. Vieste is edged by some of the region’s most stunning sandy beaches to boot. Now take a look at photos of Europe's most adorable towns and villages.

This small seaside city, flanked by olive groves and pine trees, is popular for its picturesque beaches and crystalline waters. Perched on a cliff at the northern end of the promenade is the Castello Fortress, a Venetian citadel. Built in the 16th century to ward off pirates, it offers spectacular views across the bay. A coastal path skirts the cliffs from Petrovac to Perazića Do, a steep little village with a stunning pine-forest backed beach. Find more reasons to love Montenegro here.

Huddled in between soaring cliffs, Staithes is a dreamy little fishing village on the wild North Yorkshire coast. Its jumble of steep alleys and old fisherman cottages are steeped in tales of seafaring and smuggling from its days as one of the north’s largest fishing ports. Captain Cook famously worked here. Today its quaint harbour has plenty of traditional pubs and fish and chip shops while its beaches are ideal for rockpooling. The Cleaveland Way coastal walk skirts the striking coastline to Runswick Bay, another lovely cliffside village, and historic Whitby.

Colourful Regency townhouses sit perched along the promenade high above the cliffs of the South Beach, just one of Tenby’s many sandy stretches. With its little harbour, castle and fort, Tenby is one of Pembrokeshire’s prettiest spots. Cliff-backed Castle Beach is another gorgeous beach and where ferries cross over to Caldey Island. The historic walled town was a Norman settlement and became a popular bathing spot in the Georgian era. Find more reasons to love Wales here.

The cliff-perched castle of Pazin, capital of Croatia’s Istria region, is the largest medieval fortress in the region. It is now home to two museums including the fascinating Istrian Ethnographic Museum. The mighty abyss was formed by the Pazinčica River – it's possible to walk through the subterranean passages and caves or whizz over it on a zip line.

One of the oldest towns in Bulgaria, Veliko Tarnovo is built over three rocky hills that rise above the twisting river Yantra. The hilltop Tsaravets Fortress with its mighty stone walls is magnificent, as is another medieval stronghold on Trapezitsa hill, a cable-car ride away. The old town's cobbled streets are lined with handsome old buildings and offer wonderful river views.

One of the five vertiginous coastal villages of Liguria’s scenic Cinque Terra, Manarola is a belter. It's surrounded by terraced vineyards with its pastel houses arranged prettily down the cliffs. There are hikes into the hills and a lovely little harbour with coves for swimming and sailing. Everywhere has arresting views of the sparkling Ligurian Sea, but the rocky outcrop known as Punta Bonfiglio is the place for the prize Cinque Terra shot. Check out the most colourful destinations around the world.

Rising from the top of a volcanic tufa ridge halfway between Florence and Rome, Pitigliano has been home to people since the Bronze Age. Traces of its Etruscan and Roman past are still visible, as well as numerous medieval structures. Sometimes known as “Little Jerusalem”, Pitigliano is known for its Jewish community who have lived here from the 14th century – its Jewish Quarter has an ancient synagogue, baker's oven and baths. The defensive town is riddled with underground tunnels and caves, which have been in use since Etruscan times and can usually be explored on guided tours.

Bonifacio, Corsica’s oldest town, has been perching on the island’s rugged limestone cliffs since around AD 830. The sea has gradually eroded the base of the cliffs, eating into them so it seems as though the houses are dangling over the water. It has a pretty little port and a fortified old town whose narrow cobbled streets were made for strolling around. The incredibly steep Staircase of King Aragon Alfonso V has 187 steps carved into the cliff – not a walk for the faint-hearted.