Along Along the north-western edge of India on the border of Pakistan, Rajasthan is often referred to as "the land of kings". The country's largest state, it's a vivid fuchsia and marigold-tinged jewellery box, scattered with romantic remnants of epic sandcastle forts, crumbling havelis, fairy-tale palaces and throbbing pastel-coloured cities. Set against an evocative backdrop of wild desert scenery and jungles, where leopards and tigers still roam free, it is not surprising that this must-visit destination has earned a place on most travellers' wish lists.

In the midst of the great Thar Desert on the westernmost edge of Rajasthan, Jaisalmer - also called The Golden City for its span of sandstone buildings that become the colour of honey as the sun sets - is known for its enchantingly ornate havelis, vibrant bazaars and a looming fort that rises magnificently from the sandy plains. Inside, its still-inhabited warren of narrow streets are lined with beautifully carved Jain temples and crumbling medieval buildings that house charming B&Bs, shops swathed in colourful textiles, fragrant restaurants and the private homes of about 4,000 residents.

While 4AM might seem like a ridiculous hour to wake up when you're on holiday, getting to Jaisalmer in time for the sunrise is worth it. Similarly, a romantic camel ride along the rolling sand dunes at sunset is just as evocative.

Rajasthan's second-largest city, Jodhpur is presided over by the mighty Mehrangarh, an imposing, muscular fort and architectural masterpiece built in 1460. Head to the top for a bird's eye-view of the Brahmin-blue city that begins at the base of the fort and sprawls out to the 16th-century city wall. Inside, a tangle of medieval streets are a chaotic cacophony of blaring motorbike horns, heady fragrances and throngs of people.

Thought to be one of the oldest settlements in India, Pushkar is a Hindu pilgrimage town that unfolds from a central holy lake and also has one of the world's few Brahma temples. Away from the humming soundtrack of prayers, chanting and drums, the town is also famous for its annual camel fair, a colourful event where 200,000 or so visitors descend on the region for a riotous festival of camel trading, carnival rides and holy rituals.

Explore the holy town and the surrounding region on camel back by booking a safari, which can be anything from an hour to a full day's excursion.

Udaipur is a former royal capital and arguably one of the most romantic destinations in the world. Magnificent palaces, temples, havelis and lively bazaars jostle against the sacred ghats that line the shimmering lake front, all backed by the rugged folds of the Aravalli Hills. One of the best ways to view Udaipur's glassy lakes is from above. Sign up for a hot air balloon ride for a thrilling and unique perspective.

Rajasthan's capital city is an intoxicating mix of old and new, where wide streets are colourfully chaotic thanks to mopeds, buses, rickshaws, people and camels. At the city's heart, the City Palace is still home to the former royal family and, away from the mayhem, on the outskirts, is the magnificent Amber Fort - the Pink City's crown jewel.

A walking tour through the old city is the best way to discover Jaipur's gems, such as the Palace of the Winds and the City Palace.

Once a hunting ground of the Maharajas of Jaipur, today Ranthambore National Park is the best place to spot wild tigers. Set over 1334 sq km of jungle, bordered by hefty ridges, the park features the central 10th-century Ranthambore Fort with ancient temples, mosques and crumbling hunting pavilions scattered around it. Take the time to visit the fortification - now a UNESCO World Heritage site - worth it for the sweeping widespread vistas of the park.