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São Paulo and Rio de Janeiro have their fair share of vibrant cultural and historic offerings, but some of the smaller cities in Brazil are making a name for themselves as world-class travel destinations for their unique natural beauty, character and history. Here are some of the best cities to visit in Brazil.

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Salvador is a must visit for culture and history enthusiasts. The city’s historic remains are impeccably preserved, allowing visitors to get lost in time. The city is ideally located on a small, triangular peninsula that separates All Saints Bay from the open waters of the Atlantic. Visitors can enjoy rhythmic music from every corner of the city, traditional Bahian cuisine and the lively Carnaval festivities.

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Florianópolis is the capital and second-largest city of the state of Santa Catarina, in Brazil's southern region. The city is composed of one island, Santa Catarina Island, a continental section and surrounding smaller islands. It boasts 60 beautiful beaches, a lively nightlife, unparalleled cuisine and impressive colonial architecture.

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Belém, Portugese for Bethlehem, sits at the gateway to the Amazon River and was the first European colony on the Amazon. There’s a modern section of the city, as well as a colonial portion that retains the charm of tree-filled squares, historic churches and beautiful blue-tiled buildings. The city boasts a rich history and impressive architecture.

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Porto Alegre is ideally situated on the banks of Lagoa dos Patos, the largest lagoon in Brazil. The cosmopolitan city is home to more than 190 species of trees, making it the greenest state capital in Brazil. Also known as “Happy Port," Porto Allegre is a cultural hub, home to Bienal do Sur, a biannual celebration of contemporary art.

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Recife, known as the Venice of Brazil, features some of the most beautiful beaches in the country and the nicest climate. Visit Old Town for a rich historical experience or spend some time in the neighboring world heritage area of Olinda. The city boasts a lively and vibrant atmosphere, especially during Carnaval.

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Nicknamed Paris of the Jungle, Manaus is ideal for the adventure traveler. The city, located in the heart of the Amazon, has the pace of a busy port city but also the relaxed vibe of a jungle destination. It serves as a great stopping point for rainforest hiking, caving and waterfall sightseeing.

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With beautiful beaches, dynamic shopping and a lively culture, Fortaleza is one of the best destinations in Brazil, popular among locals and tourists alike. Beaches including Praia do Futuor, Iracema and Mucuripe are ideal for swimming, sunbathing and surfing. The city also serves as a great jumping-off point for visitors looking to travel the scenic Ceará coast.