Amber leaves crunch underfoot, golden foliage hangs overhead and there’s a definite chill in the air: autumn has well and truly arrived in Europe.While winter sun might be tempting for those looking to escape the dropping temperatures, there’s plenty to love about this time of year for Britons who prefer to embrace the changing seasons.With Halloween behind us and the Christmas rush yet to kick in, now is the perfect time to escape to one of Europe’s prettiest villages for a cosy weekend away. Think steaming mugs of hot chocolate, atmospheric medieval castles, winding cobbled streets and brisk countryside walks – with perhaps a little rain thrown in for good measure.From fairytale French villages and Germany’s enchanting medieval towns to Norway’s spectacular fjord-side retreats, Europe is full of picture-perfect escapes waiting to be discovered. Here is a selection of the prettiest villages to visit.Rothenburg ob der Tauber, Germany At the top of the list is Rothenburg ob der Tauber, GermanyIf exploring historic villages is your thing, one of Germany’s best-known medieval towns should top your list: Rothenburg ob der Tauber.’Two and a half hours to the north-west of Munich lies Rothenburg ob der Tauber, a place which is seen abroad as the prototypical medieval German town,’ according to Simply Munich.’Its intricate alleyways, enchanted towers and little squares with timber-framed houses have provided the backdrop for films about Martin Luther and the Brothers Grimm.’It will be peaceful and quiet until the festive markets kick off, on November 20 this year. Choose when to visit accordingly. Riquewihr, France The old town of Riquewihr, France is like something out of a Disney filmLocated between the Vosges mountains and the Plain of Alsace, Riquewihr is a medieval town like no other.In the heart of the vineyards, it has been ranked among the Most Beautiful Villages in France.Preserving its authentic character, it’s an ideal destination for wine lovers, as well as those seeking the picturesque landscape of half-timbered houses and cobbled streets.Towards the end of November, the Christmas market kicks off, lighting up the village with decorations and festivities. Flåm, Norway Traditional Norwegian houses decorate the water’s edge in FlåmIf fjords tickle your fancy, Flåm in southwestern Norway is the stunning village that should be at the top of your list.Ride the Flåm Railway (Flåmsbana), one of the world’s steepest and most scenic train journeys, which climbs almost 900 meters from the fjord upwards.Enjoy viewpoints, fjord cruises and safaris.It should be noted, though, that during the off season some establishments are closed, but winter activities boom, such as snow shoe hiking – a far cry from visiting in the summer! Castle Combe, UK Up next is beloved Castle Combe in the CotswoldsChocolate-box Castle Combe – often called England’s prettiest village – is ideal for a relaxing autumnal retreat. Gather around wood-burning fires on chilly evenings in the privacy of your own cottage stay, or hunker down at the award-winning gastro pub the Castle Inn for a sumptuous meal. Motorheads, listen up: Castle Combe Circuit’s annual motorsport event has an autumn line-up that involves racing, Halloween showcases and car displays. Obidos, Portugal Óbidos, Portugal is known for its imposing medieval castleThis postcard-perfect medieval town is the ideal detour stop in central Portugal.With narrow cobbled streets, whitewashed houses trimmed with blue and yellow, and Obidos Castle, the main attraction.Obidos features an intact wall from the Moorish era surrounding the town’s historic centre, stretching for 1,560m/5,118ft. Tourists can walk along the full stretch of the wall.?eský Krumlov, Czech Republic Head to ?eský Krumlov for a low-key getaway?eský Krumlov is Prague’s gorgeous cobbled charming village – like Prague but on a smaller scale and without the crowds.?eský Krumlov Castle is stunning and the romantic ruins of the Dív?í Kámen castle, situated on a high rocky promontory above the confluence of the Vltava River and K?emežský brook, are the largest medieval ruin in the Czech Republic – and is well worth a look.Šmartno, Slovenia Lesser-known Šmartno for Slovenia should be on your radarBuilt atop Roman foundations, Šmartno is a fortified village that offers expansive views across Nanos to the Carnic Alps and the Adriatic Sea.The village hosts Brda gastronomy festivals (Brda and Wine in April, St Martin’s Day in November), and food and wine are top notch year-round.The romantic autumnal escape is often dubbed the ‘Tuscany of Slovenia’ for its wine and stunning views, and this time is peak wine harvest season, perfect for tours and tastings.Montemerano, Italy Montemerano is a picturesque Italian medieval villageCrowd-free Italy? Yes, please!Montemerano is quiet at this time of year, making it great for exploring Tuscany without tourists. Explore the stone Piazza del Castello, the Church of San Giorgio, and the nearby thermal baths in Saturnia.Grimentz, Switzerland For Alpine scenery, head to Grimentz, SwitzerlandGrimentz, where wooden chalets peek out from the snow, is reminiscent of Zermatt; an ancient village with a modern lift system.It’s a top ski choice but beyond the snow it’s also ideal for an Alpine getaway.The traditional village has a cable car with panoramic views, ice skating, traditional chalets and cobbled alleys to wander down.Not everything will be open, though – this is a peaceful refuge getaway, not one for those seeking a jam-packed itinerary. Cadaqués, Spain If Spain is calling your name, opt for a break in CadaquésIn November, you might not get the sunshine, beach ambiance and scorching weather – but what you’re left with is a whitewashed village with only residents in sight.Stroll through the historic centre, enjoy a leisurely lunch and slow down altogether.You can also hike in the Cap de Creus Natural Park, perfect for outdoorsy types.