Go here, not there: Overlooked European cities you need to visit

First-time and frequent visitors to urban European tourist hotspots such as Barcelona and Amsterdam can find endless options for new restaurants, attractions, exhibits and more.

In fact, there’s nothing wrong with being a repeat visitor to a specific destination. But there’s also something to be said for visiting some of Europe’s underdog cities.

They aren’t necessarily off the beaten path — you’ve probably heard of them — but they may be less touristy and more affordable than some of the more popular cities.

We’re not telling you to skip the most famous cities, landmarks and attractions. Our take on "go here, not there" isn’t meant to discourage you from visiting Europe’s most famous and frequented cities, but rather to flag more affordable, lesser-known or underrated alternatives (in addition) to the well-known favorites.

Here are some of the European cities you should consider visiting for your next urban vacation.

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Instead of Barcelona, visit Madrid for Spanish culture

Madrid is often overlooked in favor of coastal gems like Marbella or Barcelona. But for travelers who want to experience authentic Spanish gastronomy and culture in a city environment, Madrid has it all.

When it comes to art, Madrid’s golden triangle features some of the most famous museums in Spain, like the Prado (classical Spanish art), the Reina Sofia (modern Spanish art) and the Thyssen-Bornemisza (an eclectic mix of international and Spanish art).

Much of the city center, known as El Madrid de Los Austrias (most of it was built during the Habsburg Dynasty) is ideal for walkers who want to lap the historic center on foot to admire the beautiful architecture and soak in Madrid’s special vibe: a relaxed, small-town feel mixed with big-city energy.

If you want to sample the best of Spain’s gastronomy, you’ll find it in Madrid, from affordable daily lunch menus at family-owned eateries to Michelin-starred restaurants, as well as Serrano ham and local cheese stands at the city’s many food markets.

The best part? Madrid is one of western Europe’s sunniest and most affordable capitals, meaning you can enjoy food and attractions from budget to luxury, and almost always be beneath sunny skies.

Instead of Dubrovnik, visit seaside paradise Zadar for fewer crowds

Dubrovnik’s walled city is one of Croatia’s most famous attractions. In recent years, though, it’s become a bit of a spectacle, with hundreds of thousands of visitors cramming into the medieval city, many of them day-trippers from cruise ships.

While Zadar doesn’t have all the famous "Game of Thrones" filming locations and the hype that Dubrovnik has, the walled, seafront city is just as idyllic, but in a more tranquil way. Complete with historical attractions that date back hundreds of years, including 12th-century walls and several churches, the Croatian city has a similar aesthetic to Dubrovnik, but without the crowds.

Don’t miss the unique Sea Organ, a sound monument that plays music as the sea waves lap over its marble steps (the tubes located under the steps make the sound vibrations as the water crashes against them).

Zadar also has a popular city beach, Kolovare, where locals and travelers alike can enjoy the sun and pebbly sand. For even more stunning beaches, head to the nearby Kornati archipelago by boat. It’s made up of more than 100 islands, 89 of which are protected spaces as part of the Kornati National Park.

Instead of Bordeaux, visit Nantes if you love wine

Bordeaux is one of the world’s wine capitals, but for something a little different, consider Nantes, which sits on the edge of the Loire Valley.

The Loire Valley has close to 70 AOCs (Appellations d’Origine Contrôlées) and thousands of winegrowers, making it one of the best places to wine taste in France. But wine isn’t the only thing to discover in the Loire Valley.

The area is also home to hundreds of castles, many of which you can tour and even overnight or taste wine in. Many wineries have on-premise castles, and vice versa. The Loire Valley region features four different subregions, the closest to Nantes is Pays Nantais, known for producing Muscadet, a dry white variety.

The city of Nantes itself is sorely underrated, often known as the French Venice thanks to the Erde River, the Nantes-Brest Canal, a lengthy waterway that connects Nantes and Brest and the Loire River, which passes through the city, splitting and regrouping to form the Ile de Nantes.

From the city’s historic quarter of Bouffay to the beautiful riverside and whimsical attractions in the shipyard on the Ile de Nantes, including the famed Giant Elephant, Nantes is a city the whole family will love. It's also the home of Jules Verne, and fans of his work can visit the Jules Verne Museum.

Instead of Lisbon, visit Porto, one of Europe’s most underrated cities

Portugal’s capital of Lisbon is a joy to visit. It's a coastal gem featuring affordable cuisine, gorgeous architecture and a hilly tram system. But if you’re looking for a Portuguese urban adventure that’s a little different, head north to Porto, which also features colorful tiled buildings lining hilly streets.

Porto has a few attractions that are very different from Lisbon. The Douro River rolls through Porto, separating the city from its neighbor, Vila Nova de Gaia, home to various Port wineries, which you can tour and taste on foot or by taking a cable car down the hill.

Crossing the river via the iconic Dom Luis I Bridge is an attraction in itself. Walk across the massive double-deck bridge two ways (up top or at the bottom), drive across the bottom or take the metro, which crosses the top.

Book lovers will want to visit Livraria Lello, known as one of the most beautiful bookshops in the world. There’s a small fee to enter, but it’s discounted if you buy a book. Also, fans of Harry Potter should check out the opulent Majestic Cafe, where J.K. Rowling reportedly spent many rainy afternoons writing the Harry Potter books.

Instead of Venice, visit Milan for canals and fashion

Venice is a gorgeous canal city, but it’s often busy, crowded and expensive. Instead, consider Milan.

Milan might surprise you. Its exciting Navigli district features waterways lined with concept shops, restaurants and bars. When the weather is nice, roaming Navigli’s streets, and stopping for drinks and snacks, is the perfect way to enjoy the city’s local energy. It’s also a romantic place to relax on the edge of the canals with a loved one.

You’ve probably heard of Milan’s famed Duomo. This towering cathedral is magnificent, the largest in Italy. Nearby, pop into shops, ranging from small boutiques to big-name designers. Even if you don’t buy anything, take notice of your surroundings.

People-watching in this area is impressive, as many of the locals are some of the most stylish in Italy. For a breath of fresh air, head over to Sempione Park and the Sforzesco Castle, both underrated attractions many visitors to the city overlook.

If you need a bigger infusion of nature, Milan is a short distance from Italy’s most famous lakes. We recommend visiting the less-touristy and more affordable Maggiore, Lugano, Orta, Iseo and Garda lakes instead of the popular, but expensive, Lake Como.

Instead of Amsterdam, visit Rotterdam for a contemporary urban break

Rotterdam is often referred to as Europe’s "capital of cool" thanks to the city’s impressive contemporary skyline, funky art scene and up-and-coming collection of co-living and co-working spaces, hotels and boutique hostels.

From the historic art in Museum Boijmans Van Beuningen to the Kunsthal Rotterdam, which features ever-changing temporary exhibitions, there’s plenty of art to admire indoors.

Really, the whole city of Rotterdam is a museum, though, from the street art on the main and side streets of West-Kruiskade and the 1e Middellandstraatto to outdoor sculptures by famous artists like Rodin, Henry Moore and Picasso.

For a DIY art tour, download the Rotterdam Routes app and do the art and poetry tour. It guides you past many outdoor artistic monuments and sculptures while reciting a poem to match each art piece.

Save your points and instead pay affordable cash rates to stay at unique accommodation spaces like the Stayokay Hostal. Here, you can bed down in the famous cube houses; the SS Rotterdam, a former cruise ship now permanently docked; or the Hotel Not Hotel, where you can sleep in fantasy-like creations such as a giant cuckoo clock or a candy house.

Instead of Prague, visit Bratislava for Bohemian vibes

There once was a time when Prague was considered off the beaten path and affordable. It’s definitely not the most expensive city in Europe, but it's decidedly more costly and crowded these days.

Travelers on a budget who want a more underground Eastern European feel (what Prague “used to be”) should consider Bratislava, the capital of Slovakia — it’s about 13% cheaper than Prague.

Prague is larger with more big-name attractions, while Bratislava is ideal for visitors who want to kick back and hang out while enjoying a beer and the city’s general ambiance without hoards of tourists. The town sits on the Danube River, near the edge of the Austrian and Hungarian border. It’s also the ideal destination to combine with a visit to Vienna — it’s about an hour away by both train and car from Austria’s capital.

Bratislava’s historic old center is small, but fun to explore, with beautiful buildings and cobblestone streets. Nearby, the scenic architecture of Kapitulska Street is worth a visit, too. Landmarks include Michael’s Gate, the medieval entrance to the old city, the gothic St. Marten’s cathedral and the Bratislava Castle.

Similar to Prague, the city also has some famous outdoor sculptures to check out, like The Man at Work and Hans Christian Anderson.