The United Kingdom has one of the world's most extraordinary coastlines — over 17,000 kilometres of shoreline taking in dramatic Atlantic cliffs, sheltered southern coves, wild North Sea beaches, sea lochs of incomparable beauty and charming harbour towns that have changed little in centuries. Choosing the best coastal towns is, frankly, an almost impossible task — but here are the destinations that we return to time and again.

St Ives, Cornwall

There is nowhere quite like St Ives. This ancient fishing town on the far western tip of Cornwall has an almost Mediterranean quality — turquoise water, golden sandy beaches, narrow lanes of whitewashed cottages tumbling down to a pretty harbour — combined with a world-class contemporary arts scene. The Tate St Ives gallery, perched on the cliff above Porthmeor Beach, is one of the finest modern art venues in England, while the Barbara Hepworth Sculpture Garden in the town centre is a genuinely moving experience. Stay for at least two nights and explore the local beach cafes and excellent independent restaurants.

Whitby, North Yorkshire

Whitby is the most atmospheric town on the English coast — a fishing port of extraordinary character, dominated by the dramatic ruins of Whitby Abbey on the clifftop above the town. The abbey inspired Bram Stoker to set key scenes of Dracula here, and the town embraces its Gothic heritage with enthusiasm. The 199 Steps leading up to the abbey, the warren of narrow lanes in the old town (known as "The Scrambles"), the morning fish auction on the quayside, and some of England's finest fish and chips all combine to create an utterly unique atmosphere.

Tenby, Pembrokeshire, Wales

Tenby in south-west Wales is a genuinely beautiful walled medieval town perched on a headland with beaches on three sides. The multi-coloured Georgian townhouses, the intact medieval town walls, the harbour busy with pleasure boats, and the remarkable clarity of the water (some of Wales's cleanest beaches are here) make it one of the most picturesque towns in the British Isles. The nearby Pembrokeshire Coast National Park offers exceptional coastal walking.

Portree, Isle of Skye, Scotland

The largest town on the Isle of Skye, Portree is a perfect base for exploring one of Scotland's most dramatic and photogenic landscapes. The harbour is ringed with brilliantly painted houses in deep red, blue, yellow and pink — one of the most photographed townscapes in Scotland — and the setting, with the Cuillin mountains rising behind the town, is simply magnificent.

Lyme Regis, Dorset

Lyme Regis on the Jurassic Coast (a UNESCO World Heritage Site) is a perfectly preserved Georgian seaside town with a famous curving harbour wall known as The Cobb. The beaches here are among the richest fossil-hunting sites in Europe — walking along the shoreline at low tide, you are virtually guaranteed to find ammonites and belemnites embedded in the Blue Lias limestone.