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It's hard to generalize about European cities, but the following is mostly true.
In city cores, the most common style of historic housing in most places is midrise tenements/apartment houses (often around six stories). In much of continental Europe, a common layout for these is to be set right on the street, with central courtyards as greenspace in the center. England and Ireland (although not Scotland) are exceptions to this rule, as cities there are dominated by rowhouses. Cities also tend to be denser, and have less greenspace, the further south you travel in Europe.
Suburbs vary dramatically by country as well. In Southern Europe (especially Spain) suburbs also tend to be dominated by apartments. In northern Europe it is common to have detached single-family houses on very small lots (by American standards). People have private yards and driveways, but houses are usually only 5-10 feet away from the street. There's also much more common use of stone walls and privacy hedges than in the U.S. England is again an outlier - the English still like to live in rowhomes (or semi-attached duplexes) even in the suburbs.