Pembrokeshire is one of the most beautiful and underrated areas of the UK, with stunning scenery, some of the best UK beaches, charming towns and plenty of outdoor activities making a Pembrokeshire road trip the best way to explore the area.
While it isn’t strictly necessary to have a car in the area, you will benefit from having your own flexible transportation as many of the best places to visit in Pembrokeshire such as the beaches, small towns or coastal walking routes are only reachable by car.
While many people flock to Cornwall or Kent coasts, the Pembrokeshire Coast National Park is a stunning part of Wales and offers so much to do for families, couples and solo travellers alike.
Use this Pembrokeshire itinerary to plan your Pembrokeshire visit.
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Where is Pembrokeshire?
Pembrokeshire is a county at the very southwest tip of Wales. The Pembrokeshire Coast covers the entire coastal area of the county and is protected as the Pembrokeshire Coast National Park.
As one of three national parks in Wales, the Pembrokeshire Coast National Park is surrounded by sea on three sides.
Is Pembrokeshire worth visiting?
Simply, yes.
With 186 miles of coastline, 50 beaches and voted the second best coastline in the world by National Geographic, there’s so much that is worth seeing and incredible places to visit in Pembrokeshire, Wales.
Even the coastal and countryside driving routes themselves are famous for being some of the most scenic drives South Wales has to offer.
How to get to Pembrokeshire?
Most people arrive from the east in which case you’ll take the M4 past Cardiff and Swansea before following the A40 into Pembrokeshire county.
If arriving from the North, you’ll take the A487 coastal road via Cardigan before joining the A40 at Fishguard as you arrive into Pembrokeshire.
Public transport in the area is limited and quite slow due to the winding country roads but the best way to get to Pembrokeshire by train would be from Swansea.
Take whichever national train route you require to reach Swansea then switch to the Transport for Wales service to Pembroke Dock. This route includes stops at Carmarthen and Tenby as well as Pembroke Dock and other small towns along the way.
Tenby is a popular base for staying in Pembrokeshire and the train from Swansea to Tenby takes around 3 hours.
When is the best time to visit Pembrokeshire?
If you plan to enjoy the beaches and spend plenty of time walking in the great outdoors then of course visiting Pembrokeshire in the summer will give you the best chance of getting good weather.
However if you’re not too bothered by spending time on the beach in the warm weather, springtime or September-October after school holidays have finished will be the best time to visit the Pembrokeshire Coast with fewer crowds and a reasonable chance of some good weather (Although it is the UK so we can’t make promises!)
The scenic driving routes mean that even in poor weather, the views are spectacular and the area is famous for having some of the best drives in Wales.
The best places in Pembrokeshire: road trip itinerary
We did this Pembrokeshire road trip itinerary in around 1 week in July but without spending time on beaches as they were fairly busy. 10 days would probably have been ideal to take it at a slow pace and have more time to explore some of the smaller towns.
If you only have 3-4 days in Pembrokeshire, Tenby, Saundersfoot, the coastal walks and St Davids are great places to start.
This Pembrokeshire itinerary follows the Pembrokeshire coastline starting in the east as we drove west and then north along the Pembrokeshire coast for our road trip. However you could also do this Pembrokeshire road trip in reverse.
Tenby
The colourful town of Tenby is probably the most well-known place in Pembrokeshire and for good reason!
With a charming harbour lined with colourful pastel houses, small boats bobbing in the bay, multiple beaches and so many cafes, bars and restaurants to choose from, it’s a fantastic base to start from just inside Pembrokeshire county’s east border.
The popularity and well-connected location of Tenby does make this a slightly pricier option when it comes to looking for accommodation in Pembrokeshire, however if you’re visiting outside of the peak summer season (June-August) you’ve got a good chance of finding a deal.
Tenby is a great walkable town that’s popular with families too.
But Tenby isn’t just a base for exploring the rest of the county, there’s also plenty to do in Tenby itself. Don’t miss these activities in Tenby:
- Boat trip to Caldey Island
- Tenby North Beach
- Castle Beach
- Views from Tenby Castle
- Harbwr Brewery Tenby
- Salty’s Beach Bar and Restaurant
- The Food Quarter
- Fish and Chips on the Harbour
- Views of the Harbour
Saundersfoot
A quieter, but still popular alternative to Tenby – Saundersfoot is located just north of Tenby on the Pembrokeshire Coast.
If you’d prefer a slightly quieter place to base yourself on your Pembrokeshire road trip, Saundersfoot is a great option and also has plenty of amenities.
Don’t miss these things to do in Saundersfoot:
- Saundersfoot Beach
- Saundersfoot Bay coastal walk
- Views from the terrace dining at Coast restaurant
- Seafood at the Stonecrab
- Folly Farm Adventure Park and Zoo – great for families with young children
Barafundle Bay Beach
There is no direct beach access or beach parking for this beach, making it a great option if you want to escape the crowds at popular beaches like Tenby or Whitesands.
Instead you’ll need to park at Stackpole Car Park (payment via app or cash, National Trust members park for free) and walk around 20 minutes along the coastal path to reach Barafundle Bay and Beach. There are some steps and uneven ground so take caution.
Even if you don’t plan to spend time at the beach, the views and the coastal walk are absolutely stunning and worth visiting alone.
Barafundle Beach has been voted one of the best beaches in the UK repeatedly over the years and you can see why with the white sand and stunning turquoise water.
Broad Haven South Beach
Another stunning beach with a shorter walk from the car park – find Broad Haven Beach South Car Park on Google Maps for parking. Parking is National Trust so again, free for members.
Backed by sand dunes, this beach is absolutely stunning to visit at sunset as well if sunny beach days aren’t your thing.
St Govans Chapel and St Govans Head
Probably our favourite Pembrokeshire hidden gem, this stunning spot is worth a visit whether you fancy a coastal walk or just to take pictures of the unique chapel in the cliffs below.
St Govan’s Chapel is a tiny chapel built in a rocky crevice, partly into the cliffside and accessed by steps. A hermit lived there during the 6th Century and its sturdy remains make for remarkable viewing!
Take the stairs down to St Govan’s Chapel and explore inside, walk along the rock path below and see the views the hermit must have seen centuries ago.
Walk along the clifftop to St Govan’s Head for beautiful clifftop scenery and some of the best views of the Pembrokeshire coast.
In the westerly direction, there’s also a famous rock formation in the cliffs called the Huntsman’s Leap – a gap in the cliff with views of the sea. However on our visit, we found the area to the west of the Chapel along the coast was fenced off as a military practice area so obviously do not venture into the area if it’s closed off!
Parking here was free and the car park is right by the cliff where views of the chapel can be seen if you’re not able to take the stairs down to it.
The Green Bridge and coastal walk
The Green Bridge, Elegug Stacks and The Cauldron are stunning rock formations along the Pembrokeshire Coast and the stretch is popular with hikers, dog walkers, surfers and rock climbers.
However while the Green Bridge coastal area is open to the public, it’s also located on Castlemartin Military Firing Range and can close without notice due to active firing practice. If you’re planning to visit Green Bridge during your Pembrokeshire visit, call 01646 662367 on the day of your visit to find out if the area is open.
Unfortunately we didn’t know this until we got there and found the access road blocked!
But we’ll definitely be returning to see this beautiful stretch of Pembrokeshire Coastline. Along the coastal walk here you can see huge colonies of birds and maybe even a seal or two!
The large car park here is free to use and the Green Bridge itself is just steps away from the car park.
Watwick Bay and St Annes Head
Just beyond the industrial town of Milford Haven to the west, is St Annes Head.
This beautiful green peninsula is a fantastic area to enjoy the Pembrokeshire Coast Path.
If you’re feeling ambitious, you can park at Dale Beach Car Park and do a large loop of the whole of St Annes Head. Alternatively, drive up to the St Ann’s Lighthouse at the tip of the peninsula and park for free to enjoy a walk along the coastal path in either direction with 180-270 degree sea views!
Skomer Island
Located less than a mile off the Pembrokeshire Coast is this stunning island which is famous for its puffins!
Skomer and the neighbouring island of Skokholm are home to Britain’s largest puffin colony.
While you can only see the puffins between April and July, there’s also plenty more wildlife, walking and adventure available on the island throughout the year.
Boats run between April and September and take just 15 minutes from the mainland and give you 4.5 hours on the island to explore. Pricing varies depending on the month you visit.
Sweet Home Alpaca
Here’s a fun little idea if you’re looking for something quirky or unique things to do in your Pembrokeshire itinerary!
Located further north and inland towards Haverfordwest, Sweet Home Alpaca is an alpaca farm, campsite and visitor’s centre where you can do daily walks and meet & greets with alpacas!
The farm is open all year round except for Christmas and Boxing Day and this is such a fun activity for kids, families and adults alike!
St Davids
Known for being the UK’s smallest city by population and urban area, St Davids is a cathedral city on Pembrokeshire’s northwest coastline and is a must-visit for your Pembrokeshire road trip!
If you’d prefer to be based closer to the west coast of South Wales then St Davids is a great option with loads of accommodation options here.
There are also several options for car parks in St Davids, all are pay and display via app or cash. We used Quickwell Hill Car Park and Merrivale.
Don’t miss these things to do in St Davids:
- Visit St Davids Cathedral
- St Davids Bishop’s Palace
- St Davids Outdoor Market (every Thursday March-October)
- Independent art galleries and stores
- The Bishops Pub
- Coastal area at St Non’s Chapel
- A short trip to Porthclais
- Whitesands beach and sand dunes
- Book a trip to Ramsey Island at Thousand Islands Expeditions in St Davids
Ramsey Island
This dramatic island just off the coast of Pembrokeshire is absolutely one of the best things to do in Pembrokeshire. Especially if you’re a nature lover because Ramsey Island is a famous RSPB nature reserve for the colony of seabirds, choughs and peregrines that nest here.
As well as spotting incredible wildlife, you can enjoy the numerous walking routes on the island which offer views of the Welsh Coast, the Irish Sea, dramatic coastal cliffs and St George’s Channel.
Boat crossings to Ramsey Island are Saturday-Thursday 1st April-31st October weather permitting and boats depart at 10am and 12pm from the Old Lifeboat Station at St Justinians. Last boat returns at 4pm and you will need to book in advance as numbers of people allowed onto the island are limited.
At the time of writing, entry to the island is £10 per adult (free for RSPB members) and return boat crossing is £17 per adult and £9.50 per child.
Whitesands
Whitesands Beach is a super easy and accessible day out from St Davids for families, young children, large groups or those with mobility issues.
Located just a 6 minute drive from St Davids, you can also get a taxi or a bus here and enjoy a day at the beach.
There is a large ticketed car park right by the sand with beach access and plenty of beach cafes, restaurants, shops, toilets and amenities to spend a whole day here.
The beach is wide and sandy and there’s a lifeguard on duty during the season. The beach is also backed by sand dunes where there’s camping and also a golf club.
Blue Lagoon
Another favourite of ours and a must-visit if you’re planning where to go in Pembrokeshire – particularly if you’d prefer to discover some more off the beaten path places to visit in Pembrokeshire.
Located on the coast by the tiny village of Abereiddy, this is a popular spot for surfers, sea kayakers, stand up paddle boarding and cliff jumping – basically if you love a water activity, you need to add this spot to your Pembrokeshire itinerary.
The Blue Lagoon is an old slate quarry that was blasted out for sea access in the early 20th century and has been flooded with water. Because it’s protected on all sides except for a small inlet connecting it to the sea, the water remains a stunning shade of emerald green and it holds a good temperature during the summer.
Being in a protected bay, the water is calm and it’s a popular area for kayaking and cliff jumping. There are plenty of organised group tours there too if you’re nervous but want to give a water activity a try.
Very limited paid parking is available at Abereiddy Beach. If you arrive after 10am during the summer you’ll be directed to overflow parking up the hill, around 10 minutes walk from the beach. If you visit during the shoulder season or low season, then parking at the beach shouldn’t be a problem.
Pentre Ifan Burial Chamber
This is a great stop to add to your Pembrokeshire itinerary if you’re driving north towards Cardigan.
Located inland, a short drive off the A487, this neolithic tomb is an eerie site to visit.
The stones forming the main burial chamber look precariously balanced but have in fact stood in place for 5,000 years. Very little is known about the ancient site which adds to its mystery, but part of what makes it so fascinating is its location overlooking the Preseli Hills where the Pembrokeshire bluestones used to build it (and also Stonehenge) would have been taken from.
This is such a peaceful spot with spectacular views and chances are you’ll have it all to yourself. Parking is limited to a nearby layby and visiting is free.
Summary: Your Pembrokeshire Coast road trip itinerary
Hopefully this Pembrokeshire coast travel guide has given you plenty of ideas for things to do in Pembrokeshire and places to visit on your Pembrokeshire road trip.
There are a lot of beautiful places within a short distance of each other in Pembrokeshire and even just two or three days based in one area gives you plenty of opportunity to see so much!
Pin for later to plan your future trip!
