Orange, France: Located in the south east of France, this beautiful city boasts the best preserved Roman theater in Europe, built in the first century C.E.
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Norwich, England: One of the most complete medieval cities in the UK, Norwich is home to a Norman castle as well as an 11th-century cathedral.
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Aarhus, Denmark: The second largest city in Denmark boasts a towering cathedral and the ARoS Art Museum (pictured), which features a rainbow panorama walkway.
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Antwerp, Belgium: Dubbed the diamond capital of the world, Antwerp has a skyline dominated by the stunning Cathedral of Our Lady.
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The Hague, Netherlands: This low-key alternative to Amsterdam boasts some of the Netherlands' best architecture as well as a network of scenic canals.
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Sarajevo, Bosnia: Set against the backdrop of the Dinaric Alps, Bosnia and Herzegovina's capital intermingles Ottoman and Austro-Hungarian influences.
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Pristina, Kosovo: Europe's youngest capital is a wonderfully quirky, under-the-radar city with plenty to see and do.
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Malmo, Sweden: The third largest city in Sweden after Stockholm and Gothenburg, Malmo is connected to Denmark by the Öresund Bridge.
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Aberdeen, Scotland: Home to dramatic ruined fortress Dunnottar Castle, Aberdeen is often referred to as "The Flower of Scotland" thanks to its greenery.
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Bern, Switzerland: The Swiss capital features an historic Old Town that's been declared a UNESCO World Heritage site.
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Wroclaw, Poland: One of the oldest cities in Poland, the capital of Lower Silesia was a European Capital of Culture in 2016.
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Tbilisi, Georgia: This capital city offers plenty of historic sights such as the famous Metekhi Church, which dates back to the 13th century.
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Minsk, Belarus: Dominated by Stalinist brutalist architecture, the Belarusian capital is another fascinating city that's usually relatively crowd-free.
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Yerevan, Armenia: One of the world's oldest continuously inhabited cities, the Armenian capital's history dates back over 2,800 years.
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Cluj-Napoca, Romania: The unofficial capital of the Transylvanian historical region, Cluj-Napoca is filled with fascinating Baroque and Gothic architecture.
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Debrecen, Hungary: Home to the biggest reformed church in Hungary, this relaxed city serves as a less crowded alternative to capital Budapest.
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Ankara, Turkey: Formerly known as Angora, Ankara is the second largest city in Turkey after Istanbul, but decidedly less crowded.
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Plovdiv, Bulgaria: The first Bulgarian city chosen as a European Capital of Culture, Plovdiv is home to a colorful Old Town and a Roman amphitheater.
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Trondheim, Norway: The historic Viking capital is Norway's third largest city after Oslo and Bergen, but decidedly less busy.
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Turin, Italy: The capital of the Piedmont region is home to incredible sights like the Mole Antonelliana and Piazza Castello.