From a wealthy family of diamond cutters, Hoefnagel travelled around Britain, France and Spain. During these travels he made numerous cartographic drawings which he later used to compile a six-volume atlas. He worked at the court of the German Emperor Rudolf II.
Other works illustrated by Hoefnagel include Civitates Orbis Terrarum (The Cities of the World) (1572) by Georg Braun (1541-1622), canon of Cologne Cathedral. This is the first atlas devoted to the cities of the world and includes 363 maps describing 480 cities.