The best of Portugal: 10 places you have to visit

While the royal family spent their summers in Sintra, the well-heeled headed to Cascais. It's just half an hour from Lisbon on a scenic train route along the coastline. Cascais has family-friendly beaches, a saltwater swimming pool, the Paula Rego Gallery and the huge Fortaleza da Senhora da Luz. Wander tiled streets lined with shops and cafes before taking a walk to Boca do Inferno or Hell's Mouth. Here waves surge dramatically through a hole in the cliffs. Along the coast in the other direction is Casino Estoril. Ian Fleming sets a scene here in On Her Majesty's Secret Service.

Porto is far more compact than Lisbon and definitely a destination made for walking. The River Douro winds its way through the centre, separating the port cellars on one side from the cobbled lanes and terracotta roofs of Ribeira on the other. Spanning the river is the magnificent double-decker Dom Luís I Bridge. Stop off at Ribeira for its bustling day and night cafe life or step into the elegant 19th-century 
Palácio da Bolsa for a glimpse of how the city's rich once lived. Don't leave without enjoying a port cellar tour. Among the finest are Caves Cálem and Kopke.

Lagos played a vital role in the Age of Discovery when explorers such as Henry the Navigator set sail from the town. Ships sailed past the huge Fortaleza da Ponta da Bandeira which still stands guard over the harbour entrance. Near Lagos are the breathtaking rocks, caves and arches of Ponta da Piedade. On one side, steps descend to sandy beaches perfect for kayaking and paddleboarding. On the other side, the rolling waves at Praia Porto de Mós create perfect surfing conditions – some of the best in Europe.

With a long history of sardine fishing and canning, Portimão is still very much a typical Portuguese town, part of the reason why it's so charming. Visit the town's museum housed in the old Feu Hermanos Cannery before celebrating the fishing heritage with a lunch of bacalhoada or Portuguese-style fried cod. Portimão has some of southern Portugal's most beautiful beaches such as Praia da Rocha and its quieter neighbour, Praia do Vau. Both have long stretches of golden sand and safe shallow water shielded from the wind by amber-coloured cliffs.

While Portimao has the charming bustle of a market town, nearby Carvoeiro is all about relaxation. Take a hike along the Carvoeiro boardwalk that goes over cliffs where wild seabirds nest in their thousands. Or, enjoy the peace and serenity of the sea with a SUP (stand-up paddleboard) tour of coastal places boats can't reach such as the Benagil caves. If your kids crave some excitement, the aquatic delights of nearby Slide and Splash are perfect. Kids have 17 water slides and wave machines to choose from, while parents chill out in the mini spa.

Madeira may be over 600 miles from Portugal but it still retains a Portuguese flavour. Use the historic capital Funchal as a base for island explorations. Spend your days swimming in clear warm waters, on whale-spotting expeditions or hiking Madeira's network of ancient irrigation channels or "levadas". Levada dos 25 Fontes leads to the Risco Waterfall with its impressive drop of over 300 feet while Levada do Caldeirão Verde cuts through the beautiful São Jorge Valley. Wherever you go, however, the landscape is breathtaking.

The Azores and nature are inseparable. As well as being the site of two UNESCO World Heritage Sites – the Pico Island Vineyard and the ancient town of Angra do Heroismo – the Azores also has three UNESCO biospheres (Flores, Corvo and Graciosa islands). Wherever you go, there is evidence of how the island landscape was shaped by volcanic eruptions. At Furnas on the island of São Miguel, chefs even use the heat of geothermal waters to cook their dishes. Ponta Delgada is the archipelago's main city. With its churches, manor houses, museums, harbours and restaurants, it definitely brings a cosmopolitan edge to São Miguel.