A lot of it will look something like this [1].
In England, it's actually somewhat unusual to have any space between two homes. Semi and fully detached homes command a fairly high price.
Roads were also not built for cars, so they tend to be much narrower than what you'd find in the US. All that means you'll find a much higher population density. You can even find a bunch of cobblestone roads without much effort.
I'd also say that cities are FAR more walkable than they are in the US. It's almost the reverse of what it is here, it can be easier to walk to the store than drive simply because there's a billion little pathways that lead everywhere.
[1] https://en.wikipedia.org/wiki/Terraced_houses_in_the_United_...