This is a short walk around the fascinating medieval Pembroke Castle. It's an attractive area with the castle surrounded by a large Mill Pond. This walk starts near the castle at a parking area in the town and explores the castle grounds before crossing the mill pond bridge for a great view across the water to the castle. You can return the same way or head through the town.
To continue your walk you can pick up the Pembrokeshire Coast Path which runs past the castle. Following it north will take you to Neyland and then on to Milford Haven.