Because they have spin states that can be optically polarized and detected, fluorescent nitrogen vacancies in diamond1,2,3 have considerable potential for applications in quantum cryptography4,5 and computation6,7,8, as well as for nanoscale magnetic imaging9,10 and biolabelling11,12. However, their optical detection and control are hampered by the diffraction resolution barrier of far-field optics. Here, we show that stimulated emission depletion (STED) microscopy13,14 is capable of imaging nitrogen-vacancy centres with nanoscale resolution and Ångström precision using focused light. The far-field optical control of the population of their excited state at the nanoscale expands the versatility of these centres and demonstrates the suitability of STED microscopy to image dense colour centres in crystals. Nitrogen-vacancy defects show great potential as tags for far-field optical nanoscopy15 because they exhibit nearly ideal STED without bleaching. Measured point-spread functions of 5.8 nm in width demonstrate an all-physics-based far-field optical resolving power exceeding the wavelength of light by two orders of magnitude. Based on a far-field fluorescence-based optical super-resolution scheme – stimulated emission depletion microscopy – scientists resolve densely packed individual fluorescent colour centres inside crystals with a far-field spatial resolution of 5.8 nm without photobleaching. The approach will support future studies of solid-state single-photon sources and quantum optics.