Copenhagen, the royal capital of Denmark, is one of Europe's oldest capitals. It was a fishing village until the middle of the 12th century, but then grew in importance after being fortified in 1167. Because of its harbor, it soon became a place of commercial importance. Copenhagen has a long history well-integrated with today's modern life. Theaters, museums, art galleries and musical entertainment are among the attractions that make Copenhagen memorable.

Kiel, the capital of Schleswig-Holstein in northern Germany, sits on the 11-mile Kiel Fjord near Scandinavia and has a proud maritime history. It marks the eastern lock of the Kiel Canal, the world's busiest artificial waterway, and hosts Kiel Week, the world's largest sailing event. Stroll the Kiellinie waterfront, watch ships pass, try Rote Grütze, and visit the Schiffahrtsmuseum in a Gothic Revival fish auction house.

When you dock in Rønne on Bornholm, you join a long line of historic visitors. Only about 40,000 people live here, but its mid-Baltic location has made it a stop for sailors since the 1100s. Today it draws more tourists than Vikings, with craggy cliffs, white-sand beaches, sunny weather, quaint churches, artists' workshops, fresh local food, and a friendly welcome center for local tips.

Explore colorful, restored Old Town Gdansk, once a powerful Hanseatic League city, and admire its grand architecture. Walk the full length of Ulica Długa (Long St.), visiting St. Mary's Church, built over 150 years, and its 1460 Astronomical Clock. Browse museums, shops, and galleries for amber, embroidered linens, silver jewelry, and wool sweaters. See the grand houses, Green Gate, and Golden Gate on the Royal Road, and try vodka served with gold flecks.

Liepaja, Latvia's third-largest city, is known as "the city where the wind is born." A Baltic coast resort since the 1860s, it offers WWII and WWI relics, white-sand beaches, and a music walk of fame. Explore Karosta's bunkers, cannons, and ruins, linked to Tsarist and Soviet Russia. Walk Blue Flag Beach, try local cod, and visit Holy Trinity Cathedral and the Latvian Musicians' Walk of Fame.

Riga, Latvia's capital, lies on the Baltic Sea coast at the mouth of the Daugava River. After more than 700 years of German, Swedish, and Russian rule, Latvia declared independence on November 18, 1918. It was occupied and annexed by the Soviet Union in 1940, then regained de facto independence in 1991. Riga's Historic Centre is a UNESCO World Heritage Site, and the city is known for its extensive Art Nouveau architecture.

On the southern coast of the Gulf of Finland lies Tallinn, the capital and main seaport of Estonia. Though the city has been bombed and pillaged many times throughout the ages, much of the town as it was in medieval times remains. Atmospheric streets serve as home to the palaces of Castle Hill. Ancient convents, steepled churches and handsome guild houses are all preserved as they were in Tallinn's Old Town area, which was named a UNESCO World Heritage Site.

Hamina, 16 miles (26 km) east of Kotka, is a very walkable city with an 18th-century circular town plan and star-shaped fortress at its center. Explore the Old City on Fortification Trail, which follows the restored walls past well-kept wooden houses and Town Hall Square. After visiting three museums on Hamina's turbulent history, stop for coffee and korvapuusti at a cozy café.

"Venice of the North," Stockholm spans 14 islands at Lake Mälar's outlet to the Baltic. Scandinavia's largest city, it's known for handsome architecture, broad streets, waterside parks, and pedestrian paths. Highlights include Old Town, the Royal Palace, Riddarholm Church, the Town Hall observation deck, Skeppsholmen museums, and the Vasa Museum on Djurgården, home to the nearly intact 64-gun warship Vasa, lost on its maiden voyage in 1628.