I visited a pretty UK village that tourists rarely choose over Cornwall or the Cotswolds

Tucked away on the northern shore of the Firth of Forth, the village of Culross (pronounced "Coo-riss") is often described as one of the prettiest in the UK - and with good reason. With its cobbled lanes, ochre-hued houses, and red-tiled rooftops, this perfectly preserved Scottish burgh feels like stepping into a 17th-century painting.

While the likes of the Cotswolds or Cornwall draw much of the attention when it comes to pretty countryside staycations, Culross remains under the radar for British tourists. On a sunny day in June, my mum, my sister, and I set off for a day trip to the tiny coastal village after someone had mentioned that Culross was worth a wander. That turned out to be an understatement.

It ended up being one of the most charming places we'd ever explored - a true hidden gem that deserves far more attention than it gets.

The village was quiet, but not in a sleepy or lifeless way. For somewhere so photogenic, you'd expect it to be overrun with tourists. But it wasn't. Maybe it's because people tend to flock to more famous destinations like Cornwall, Devon, the Cotswolds or the Lake District for their summer holidays. Even Edinburgh, just under an hour away, attracts most of Scotland's tourists.

We started our day by simply walking through the cobbled lanes that meandered between mustard-yellow houses, whitewashed cottages, and crooked chimneys. I felt like I'd stepped back in time, especially as we reached the Mercat Cross and wandered uphill past Culross Abbey. It's no wonder that Culross is a filming location for Outlander - parts of the village double as Cranesmuir in the series. In fact, it's not just Outlander - several films and shows have taken advantage of Culross's 17th-century looks, including Captain America and The Little Vampire.

We stopped for lunch at a cosy tearoom named Bessie's Cafe, where we had soup and a sandwich. The tearoom itself was in one of the famous ochre-yellow buildings, with a beautiful outdoor area. Afterwards, we dipped in and out of the tiny shops and galleries before heading to the highlight of our visit: Culross Palace.

The National Trust for Scotland looks after the palace, and I honestly wasn't expecting it to be so beautiful. The ochre-coloured merchant's house, dating back to the 17th century, was built for Sir George Bruce, the Laird of Carnock.

However, it was the garden that completely took my breath away. It featured rows of herbs, vegetables, and wildflowers, and the rose garden was the real showstopper - perhaps the most beautiful I've ever seen.

Though Culross is technically a coastal town, it's not your classic seaside spot. The waterfront is pleasant enough for a stroll, though the view across the Forth includes the rather industrial outline of Grangemouth's power station. There is a pebbled beach nearby - we didn't make it down to it, but I've read it's good for a walk at low tide. Still, the village itself was so enchanting that I didn't mind missing it.

There are more things to do than we had time for. You can visit Culross Abbey, founded in the 13th century, or follow the Fife Coastal Path, which offers lovely views over the water.

The village also has a handful of welcoming cafés and tearooms. The Mercat is newly-opened cafe and homeware shop, while The Biscuit Café is known for cakes and traybakes. For something heartier, The Red Lion Inn serves classic pub food.

If you're in the mood to shop, The Biscuit Tin gift shop and The Biscuit Factory art gallery are lovely spots to browse. For places to stay, the beautifully stylish The Dundonald guesthouse and cottages were named among The Times' best British hotels.