6 of the most beautiful Pembrokeshire castles

Absolutely! Easily one of the top things to do in Pembrokeshire, Pembroke Castle is one of the most well-preserved and interesting medieval castles in Wales.

Pembroke Castle is famous for being the birthplace of Henry VII, Britain's only Welsh king and the founder of the Tudor dynasty. Step back in time and visit the very room where he was believed to have been born in 1457.

Yes, you can go inside Pembroke Castle, and you won’t be disappointed when you do! Read on to discover all that can be discovered within the walls of this striking medieval fortress.

Adventure to this captivating castle and you’ll find plenty to keep you entertained including:

• A cute cafe serving up a satisfying range of homemade tasty treats and refreshing beverages
• The Dungeon Tower: one of the few remaining authentic medieval gaols that takes the shape of an oubliette, from the French word ‘oublier’ meaning ‘to forget’
• A gift shop selling a range of souvenirs, toys, games and fascinating books
• The Great Keep: standing proud at 25m high, the keep was originally five stories high! Each floor played its part from the storeroom to the living quarters with roof access for soldiers to attack the enemy below should the castle ever be subject to an onslaught
• Fascinating exhibition rooms uncovering the castle’s rich history
• The world's largest map of Wales that highlights every important castle and religious landmark!
• Wogan's Cavern: a vast cavern that was originally used for cave dwellers and is now home to pipistrelle bats and rumours of a great dragon’s lair! 

The popular dog-friendly walk around Carew Castle is around a mile long with amazing views of the magnificent castle. 

Alongside some amazing Pembrokeshire walks, the circular Carew Castle walk is easily one of the prettiest places to pace in Pembrokeshire. 

Yes, you can go into Carew Castle. Please check the Carew Castle website for up-to-date opening times before visiting. 

Carew Castle has changed hands many times throughout history and is now managed by the Pembrokeshire Coast National Park Authority.  

Entrance to Manorbier Castle costs £6 for adults and £4 for children and seniors. A family ticket costs £18.

Please check Manorbier Castle's website for up-to-date opening times and prices before visiting.

Yes, you can walk around Manorbier Castle. There is a lovely 3-mile circular walk that incorporates the unspoilt local coastline that features the magnificent castle.

Yes, you can take dogs to Manorbier Castle. Well-behaved dogs on leads are welcome at Manorbier Castle for a fun, family day out with their owners.

Picton Castle can be found at: Picton Castle, Haverfordwest, Pembrokeshire, SA62 4AS, OS Ref: SN011 135, 2 miles South of the A40. 

Follow the brown tourist signs to Picton Castle that are located on the A40, about 3 miles east of Haverfordwest.

Picton Castle Gardens is managed by The Picton Castle Trust who established a repair, conservation, and refurbishment programme to secure the castle’s long-term future. 

Picton Castle, its collections, and gardens were gifted to the Picton Castle Trust in 1987 by The Honourable Hanning Philipps and Lady Marion Philipps, who were the last family members to live in the castle.

Dogs on leads are welcome within the gardens, and with 60 acres to explore, both owners and pups will get plenty of opportunity for exercise! 

Dogs are welcome in the lower section of the restaurant and there’s also plenty of outdoor seating where you and your pooch can refresh after a busy day exploring! 

Only assistance dogs such as Guide Dogs are allowed in the castle and dogs are not permitted in The Welsh Owl Garden and Zoo.

Yes, Cilgerran Castle is dog-friendly. Dogs on leads are free to explore the ground-floor levels. 

Cilgerran Castle was likely built as a ‘ringwork’ castle in 1108. A ringwork castle typically had a fence or defensive wall on top of a raised earth bank, protected by a ditch, and may have been supported by extra towers. 

Cilgerran Castle was probably built by Gerald of Windsor, the Norman adventurer husband of Nest, a famously beautiful Welsh princess.  

No, you don't have to pay to visit Tenby Castle, admission is free and it is open all year round with spectacular views of the pretty seaside town and beaches.

Tenby Castle has fallen into disrepair, yet a striking tower remains on top of Castle Hill. 

The medieval Tenby town walls are still extraordinarily complete, continuing to wrap this quaint seaside town in vibrant history.

St Catherine's Fort sits atop the tidal St Catherine’s Island and has a varied past including being home to a 13th-century chapel, a Napoleonic fortress, a luxury home, a wartime garrison, a zoo, and a movie location! 

Today, it’s a popular visitor attraction and iconic addition to Tenby’s picturesque landscape.