To look out over or across a landscape from a high place; to command a view. The noun form is 見晴らし (view).
山の頂上から町を見晴らすと、遠くに海が見えた。
When I looked out over the town from the mountain top, I could see the sea in the distance.
ベランダから見晴らす景色が気に入ってこの部屋を選んだ。
I chose this room because I liked the view from the balcony.
展望台で都会の夜景を見晴らした。
I took in the city's night view from the observation deck.