Würzburg has been called the ‘Pearl of the Romantic Road’. And on the Romantic Road in Germany, which takes you past one bewitching Bavarian jewel after another, that’s no small claim. But Würzburg effortlessly lives up to the hype.

Between hills carpeted with vineyards, in the heart of Germany’s wine-growing region, the city is best known as home to the Würzburg Residence. A stunning and extravagant palace — think French château meets German Baroque brilliance — with the most magical, and most manicured, gardens you’ll ever see.

On arriving, head straight to the palace for a baptism by fire — of the passionately romantic kind, of course — into what this road trip has in store. Explore chapels, gardens and stately halls, all gilt, gold and crystal.

Find yourself seduced by the otherworldly splendour of this intriguing building. And once you’ve had your fix of fairy tales, pop to a bar to sample some of the wine for which this city is also famous.

If Würzburg felt like a romantic idyll, Rothenburg, your next road trip stop, takes it up a notch. One of the best-preserved medieval cities in Germany, here you’ll step back in time to the Bavarian Middle Ages.

Half-timbered, red‑roofed houses and cobbled streets sit between majestic churches, striking city walls, ancient ramparts and a Baroque castle. It’s like the set of a fairy-tale blockbuster — in fact, the village from Disney’s Pinocchio was based on Rothenburg.

Drive your campervan through the green wonderland of the Taubertal valley to reach your next Romantic Road destination in Germany.

Wandering round the town doesn’t take long — but the endless photo ops might. For breathtaking views, climb to the top of the historic town hall. And when night falls and most of the tourists have gone, join the night watchman on his patrol of the city walls and look over this ancient, picture-perfect town twinkling in the dark. Rothenburg makes being romantic easy.

A little over 60 km further along this Romantic Road in Germany, the next town to charm you is Nördlingen.

Arrive in another medieval marvel, this time with preserved city walls that encircle its almost perfectly round old town. At its heart sits the mighty Gothic wonder that is St George's Church — its tower offers panoramic views across the town. Less visited than Rothenburg, you won't have to jostle other visitors to get those great couple photos.

Oh, and incidentally, Nördlingen sits in the middle of a giant crater created about 15 million years ago by an asteroid — an extraterrestrial visit that just adds to its charm.

Soak up the quaint but captivating old-world atmosphere. Pay a visit to the Rathaus, or town hall, with its gorgeous gables and timber-framed façades.

Climb the Kirchturm Daniel for views across the ochre-tinted roofs and beyond. As with Rothenburg, Hollywood has made good use of Nördlingen — it was a backdrop in Willy Wonka and the Chocolate Factory, so keep an eye out for Oompa Loompas.

Augsburg is Bavaria’s oldest city, founded before the Romans arrived. Admittedly, it’s not the most romantic of all the towns on this road trip from Frankfurt to Munich. But it has a rich and fascinating history — and stoking the intellect can fuel the flames of passion, right?

Plus you’ll still have the pleasure of visiting luxurious palatial homes, stumbling upon Baroque fountains, and visiting Gothic churches — if you haven’t had enough yet.

Visit the Rathaus, six storeys of history and culture. Then there’s the Perlachturm, a 1,000-year-old watchtower. From the top, you’ll spot the Alps further along the Romantic Road in Germany.

For your fix of historic beauty, head to the Schaezlerpalais, a Rococo-style mansion and art museum. Relax in a café on the Maximilianstrasse and soak up the atmosphere. Wander the historic centre with its townhouses and majestic boulevards.

And, to finish, we reckon a candlelit dinner beneath the vaulted ceilings of a traditional restaurant sounds like a great idea.

Hohenschwangau. Not quite the last stop on the Romantic Road in Germany. But it does feel like Bavaria’s final flourish.

Hohenschwangau is prized above all for Neuschwanstein, the fairytale castle to rival all others. Its spires, turrets, towers and balconies, dramatic and whimsical by turns, have inspired artists from Walt Disney to Wagner, and it's exactly where princesses might sleep for hundreds of years. Perched amid a panorama of lakes, fields and the Bavarian Alps, this is the world’s most iconic storybook castle.

Expect to come across fairies, queens, princes and perhaps even a witch or two as you enter the village. You’ll be desperate to head straight to Neuschwanstein, already under its spell. But hang on until sunset and the crowds disperse — this is when the castle is at its most magical.

Until then, there’s also the other castle, Hohenschwangau itself, which deserves some of the spotlight shone on its more famous sibling.

The end of your romantic road trip is the region’s capital, Munich, a city best known for its raucous beer festival, Oktoberfest, but a compelling destination all year-round. Here rich tradition meets contemporary art and BMW museums sit alongside Lederhosen-sporting locals.

With its elegant royal palaces, Christmas markets in winter, gardens strewn with fairy lights in summer, and, of course, its beer, Munich is a city where every aspect kindles romance.

Wander streets made for holding hands. Visit one of the many galleries in the Kunstareal. Climb the 86 steps to the top of the Frauenkirche for superb views. Enjoy people-watching in the English Garden. Explore the hip and bohemian Schwabing.

Finally, peruse the culinary treats at the Viktualienmarkt, the famous food market. Then cleanse your palate with an enormous tankard of beer in one of the many buzzing beer halls. And experience Gemütlichkeit — a combination of cosiness, well-being and relaxation — a feeling surely best enjoyed as one half of a couple.