lists Bath (Aquae Sulis), Colchester (Camulodunum or Colonia Claudia Victricensis), Dorchester (Durnovaria), London (Londinium), Leicester (Ratae Corieltauvorum -- a small settlement probably) ) and St. Albans (Verulamium - 3rd largest city).
Roman rule lasted for over three centuries, so there may have been changes. For most of this time London was the provincial capital and there were four 'coloniae' - Colchester, Gloucester, Lincoln and York. These places were all big, but may not have been the biggest.
As a man of Shropshire, it is my duty to sdd that Wroxeter was the Roman town of Viroconium Cornoviorum.
Also, for completeness, I'll add that Cirencester was Corinium Dubunnorum and York was Eboracum.
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