Münster - Erfurt - Würzburg - Regensburg - Augsburg - Freiburg - Heidelberg

If you have particular interest in that lengthy, if vaguely defined, post-ancient, pre-Renaissance period that most refer to as medieval times or the Middle Ages, visiting the historic cities of Germany will be like striking oil. Some city centers remain completely preserved from these times, allowing you to wander narrow streets, contemplate masterworks of architecture and lose yourself completely in Germany’s medieval history.