Malaga is a coastal, cosmopolitan city that is constantly evolving, and because of this you'll find the road networks are well-connected and relatively easy to navigate. The A-7 (previously known, and often still referred to, as the N-340) or Autovia del Mediterraneo is the major highway that follows the coast from Barcelona, through Marbella down to Cadiz, taking in Malaga along the way. Travel on this road in your car hire and you'll enjoy some of the most stunning views on Spain's south coast.

When hiring a car at Malaga Airport and driving down the coast, you also have the option of taking toll roads, which are often very quiet in comparison to other routes. The maximum speed limit on motorways and dual carriageways is 74mph (120km/h), while it's 55mph (90km/h) on ordinary roads and 31mph (50km/h) in built-up areas.

When parking, avoid red or yellow lines, and look out for road signs that will indicate when you must pay for parking spaces. Blue Zones are available for two-hour parking if you display a parking disc (available in hotels).

Headlights should always be used when you're in a tunnel, although there will be a sign to alert you to this as you approach. As in the rest of Spain, children under the age of 12 are not permitted to sit in the front passenger seat of the hire car in Malaga.

Situated on the Costa del Sol and effortlessly blending the modern and the historic, the eclectic character of Malaga offers something for everyone. Hop in your Malaga hire car and you can unlock it all on your trip.

Steeped in history

Malaga's historic centre has been stylishly and sympathetically restored and is home to the city's cathedral, which has a dominating and imposing presence. Building began in the 16th century, but it's earned the nickname La Manquita – the one-armed lady – because it remains unfinished, with one of the bell towers incomplete. This magnificent building is also home to the Cathedral Museum, which stretches across two rooms and displays key pieces from the cathedral and other sites.

Malaga's Alcazaba, a fortress dating back to the 11th-century Moorish period, is situated next to the Roman amphitheatre and worth the trip just for the views and lush green surroundings. This is the best-preserved Moorish palace in Spain and one of the iconic landmarks of Malaga. It's also among the most-visited thanks to its history and beauty.

Experience culture

Malaga is fiercely proud of its artistic heritage – it's the birthplace of Pablo Picasso, and there are nods to this dotted all around the city. The three main art spaces include the Picasso Museum (with a collection of 204 works), the Carmen Thyssen Museum and the CAC – Contemporary Art Centre – for those with a taste for more modern art.

Chic boutiques, gastrobars and quaint cafes rub shoulders with the down-to-earth traditional taverns amid the winding lanes of the city, so there are plenty of opportunities if you want to immerse yourself in the laidback Mediterranean way of life. Graze on tapas as you hop from place to place or unwind over a long and leisurely meal. And the daily Mercado Central de Atarazanas is the perfect place to soak up the atmosphere and get your hands on some Spanish delicacies and fresh local produce.

If you're visiting in mid-August, you might just be lucky enough to catch Feria de Malaga, the city's nine-day fair, which is one of Andalusia's most colourful events. Expect plenty of flamenco and other celebrations throughout the streets during the day, and concerts, shows and fairgrounds at Cortijo de Torres in the south-west of the city in the evenings.

A range of landscapes

Towards the east of the city, you'll find the beaches that keep Malaga's tourists flocking back year after year. La Misericordia, one of the city's most popular, is a dark sand beach and can be found between Guadalhorce and Huelin. Kite surfers flock to Playa del Campo de Golf for its two-mile-long stretch of sand – on a clear day and wind-permitting, dozens of sails can be seen from afar.

Or if stunning greenery is your thing, just three miles north of the city centre you'll find Jardin Botanico La Concepcion, a large botanical garden that dates back to the mid-19th century. Visit in spring and you're sure to catch sight of the purple wisteria for which it's famous, although it remains a delight year-round.

You're ideally placed to venture into the rest of southern Spain, so if you're hiring a car in Malaga, you can take your pick between the dramatic hills of the Andalusian capital of Granada, the beautiful city of Seville or the bustling streets of Cordoba.