Mallorca’s dynamic capital is well worth exploring, with spectacular cathedrals, castles, fortresses and palaces thrusting up from its elegant harbourside sprawl. Springing to life in 123 BC as a Roman stronghold, and later captured by Byzantine, Arab and Christian conquests, the city houses a captivating range of architectural influences.

You can’t miss the honey-hued Gothic Catedral de Santa María overshadowing the grassy stretch of Parc de la Mar. Take an al-fresco pew at one of the park’s cafés and admire the soaring spires—its 44m nave is Europe’s second tallest. The surrounding manicured gardens are adorned by a colour-popping fresco, courtesy of celebrated Spanish surrealist painter Joan Miró.

Parc de la Mar isn’t the only decent perch in Palma, though. Find one among the busy cafés that line its gracious tree-lined boulevards and the broad expanse of its grand Plaza Mayor. For a more contemporary setting, take in the shiny white yachts and palm tree-pierced skyline at Palma’s busy marina.

When all the sea air makes you peckish, Palma offers some excellent seafood, best washed down with a gin-based tipple. The punchy spirit is distilled on the island and has been enjoyed by locals for centuries.

Sun worshippers often head straight for the golden shores stretching out from Palma’s coastline, but with a hire car, so much more begs to be discovered. The lofty peaks of the Serra de Tramuntana mountain range are only half an hour away from the capital—the mountainous maze, revered among hikers, is a UNESCO World Heritage Cultural Landscape.

Alternatively, once you’ve indulged in the capital’s chief thrills, head for further-flung Deià or S’illot to soak up their tranquil waters and surrounding peaceful coves. Deià is revered for its pine-carpeted clifftops that plunge into the Balearic Sea, as well as its secluded ambience. S’illot is a laid-back town on the east coast of Mallorca where the serious work of sunbathing, swimming and snorkelling prevail.

A 12-minute drive from S’illot, enter the subterranean realm of stalactites, stalagmites and mysterious pools in Cuevas del Drach (Caves of the Dragon). Here, discover one of the world’s most immense underground lakes.

On the opposite flank to Palma, the charismatic, portside metropolis of Alcúdia is reached in just under an hour, owing to the island’s compact size. Hire a car with Avis at Palma Airport and enjoy easy access to all of Mallorca’s top sights.

• Mobile phones may not be used at all whilst driving
• Do not use headphones when driving (except hearing aids)
• Dipped headlights must be used in poor daylight visibility
• Always use indicators, you will be fined for not using indicators when needed
• Cyclists have right of way, at all times

• Urban areas: 50 km/h (31 mph)
• Rural areas: 90 km/h (55 mph)
• Motorways: 120km/h (74mph)

• It is compulsory for the driver and all passengers to wear a seatbelt
• Children aged under 12 and less than 135cm tall must be seated in an appropriate child restraint for their size
• Children aged under 12 are not allowed to sit in the front seat