Old Quarter of Dijon
The old town of Dijon has a beautiful medieval quarter, which is organized around the palace of the Dukes. Luckily, the medieval streets are pedestrianised. Verrerie Street for example is very nice with traditional houses with wooden pillars and small shops. The Palace of the Dukes is an art museum that you can visit. Spending half day in Dijon may suffice, but it is a pleasant city with lots to do and very good food so better to spend more time there if you can. There are narrow medieval streets and the houses do not seem straight, like they're going to fall over. The old center is a UNESCO World Heritage Site.