It is widely acknowledged that Pembrokeshire is one of the most beautiful areas of the UK, and yet it is so underrated. Too few of us actually take the time to go and explore Pembrokeshire. To properly soak up this incredible region, we recommend embarking on a full Pembrokeshire road trip in a motorhome. You’ll spend a lot of time on foot as well, exploring the beloved Pembrokeshire Coast Path, so be sure to pack your best walking boots!
We’ve created a five-day Pembrokeshire road trip itinerary to cover the best of this region, so let’s start exploring!
Day 1 — Saundersfoot and Tenby
The first day of your Pembrokeshire road trip itinerary might be the best day of them all, but you’ll have to try the entire route to be sure! We’re starting off in Saundersfoot, right at the top of the Pembrokeshire Coast.
Saundersfoot is a quieter town, located just north of Tenby, with plenty to do. If you simply can’t wait any longer to dip your toes in the sea, head straight to Saundersfoot Beach. If you’ve driven a long way to get here, you can stretch your legs on the Saundersfoot Bay Coastal Walk.
We have no doubt that all that driving has worked up an appetite, so grab a bite to eat in Saundersfoot. The Stonecrab is known for having the best seafood in town, which is a perfect way to start this coastal road trip.
Once you’ve had your fill of Saundersfoot, head to the colourful town of Tenby, which is one of the most popular destinations on the Pembrokeshire Coast. Many of the best things to do in Pembrokeshire are right here in Tenby.
You’ll instantly fall in love with the charming harbour, lined with pastel-hued houses and countless cafes, bars and restaurants. Tenby is known for having the best fish and chips in the region, so test this theory for yourself.
You could also grab a drink at the Harbwr Brewery, explore your first Welsh castle of the trip at Tenby Castle or simply enjoy the incredible views from the harbour and watch all the fishing boats returning home for the evening.
Staying at: Penally Court Farm
A family-run site with an unbeatable view, Penally Court Farm is the perfect motorhome site for the first night of your West Wales road trip. It’s right by the beach, so you’ll only have to walk ten minutes in sandy shoes to get to the site showers. And if you’re hungry after a full day of exploring, you can walk three minutes to reach the nearest pub, which serves delicious homemade food. Your biggest struggle will be leaving Penally Court Farm to continue with your road trip!
Penally, Tenby SA70 7PR, United Kingdom
51.657968, -4.725222
Day 2 — Barafundle Bay, St Govans Head and the Green Bridge
After a packed first day of your Pembrokeshire road trip itinerary, we recommend having a calm morning. That doesn’t mean sleeping in — there are too many places to be explored!
Have an early start and head straight to Barafundle Bay Beach for a lovely morning walk. Bonus points if you come in time for sunrise! This is a less-visited beach than Tenby or Whitesands, but just as beautiful. Keep in mind that you can park at Stackpole Car Park, and then walk twenty minutes on the coastal path to reach the beach. But trust us, it is worth the effort.
Then, you can grab some coffee and Welsh delicacies before heading further on your itinerary for the day. Our next stop is St Govans Head. This is a lesser-known gem of the region, nestled into a clifftop. You can walk along the clifftop to St Govan’s Head for incredible views of the coast. Then head down to St Govan’s Chapel, a tiny chapel built in a rocky crevice. A hermit lived here in the 6th century, and it remains in remarkably good shape!
Finally, head west to the Huntsman’s Leap, a famous rock formation in the cliffs consisting of a gap. Just don’t try to leap over it yourself!
Head further along the Pembrokeshire Coast to the Green Bridge. Situated beside the Elegug Stacks and the Cauldron, the Green Bridge is a stunning rock formation gazing out over the sea. From these points, you can huge colonies of birds, and even a few seals on a good day! Just keep in mind that this is located on Castlemartin Military Firing Range and can close without notice due to active firing practice. So be sure to check this before going!
If you couldn't get enough of the Harry Potter road trip itinerary, we’ve got one more little gem to recommend. Like many of us, you likely bawled your eyes out at the death of Dobby the House Elf. Well, you can now visit his grave at Freshwater West Beach. This is where all of the scenes of Shell Cottage were filmed. The cottage is gone, but a grave for Dobby has been created, and visitors leave stones and socks. We urge you not to leave socks or other times that can ruin the eco-system, and instead to opt for beautiful shells or pebbles.
Staying at: Cedar Farm Camping
You’ll need to drive inland for your campsite tonight, but don’t worry; you’ll be back to the Pembrokeshire Coast Path soon enough. This peaceful rural site is exactly what you’ll need after a tiring day. There are no main roads around, so you won’t hear any traffic, and you’ll have the best night’s sleep imaginable. Campfires and barbecues are permitted, so you could toast some marshmallows as a delicious treat before bed.
North Road, Pembroke SA71 5HX, United Kingdom
51.639911, -4.965419
Day 3 — St Annes Head and Skomer Island
Head right to the tip of the coast for the stunning views from St Annes Head. If you feel like challenging yourself, park at Dale Beach Car Park and walk the whole loop of St Annes Head. It’s about four and a half miles in total.
Alternatively, you can drive your motorhome up to St Ann’s Lighthouse at the very tip of the peninsula, and walk along the coastal path around it. Built in 1844, this lighthouse overlooks the entrance to Milford Haven waterway, which is one of Britain’s few deep-water harbours. Visitors also recommend the incredible starry night views from the lighthouse, so it might be worth returning at night. If you love stargazing here, check out these other best places to see the stars in the UK.
Then it’s time to leave your motorhome for a bit and take a boat trip, because no visit to the Pembrokeshire Coast would be complete without some time on a boat. Located less than a mile off the coast is Skomer Island, renowned for its large puffin colony. Skomer and the neighbouring island of Skokholm (not to be confused with the capital of Sweden, Stockholm) are home to Britain’s largest puffin colony. You’ll only find puffins there between April and July, but don’t fret if your trip falls outside of these dates, as there are plenty of other wildlife and walking routes on the island all year round. It takes fifteen minutes to reach the island, and most trips will give you about four and a half hours to explore.
Staying at: Foxdale Campsite
A small, family-run campsite, Foxdale Campsite is located just outside of Marloes village. It’s not far from the return point for Skomer Island, so you won’t have to drive long after the tiring day you’ve had. There’s an on-site food trailer on the weekends and busiest days of summer, which offers breakfast and takeaways. Alternatively, several pubs are within walking distance, and you’re never too far from the shops.
Fox Dale, Glebe Lane, Marloes, Haverfordwest SA62 3AY, United Kingdom
51.730382, -5.192870
Day 4 — St Davids and Ramsey Island
After all that time spent in nature, it’s time to explore another city in Pembrokeshire. St Davids is known for many things, including being a cathedral city, being the UK’s smallest city by population and urban area, and the gorgeous nature that surrounds it.
While in St David’s, head over to St David’s Cathedral, one of the great historic shrines of Christendom. Follow this with a visit to St David’s Bishop’s Palace, or if you need a break from religious chapels, you can head into town. You’ll find a market in the centre of town every Thursday, selling food, drinks and artisanal crafts. There are also plenty of independent art galleries and stores around town.
Then, if you’re not prone to seasickness, it’s time to visit another island on the Pembrokeshire Coast! Ramsey Island is a famous RSPB nature reserve for the colony of choughs, seabirds and peregrines nesting here. You’ll find plenty of great walking routes across the island, and you can enjoy views of the Welsh Coast, the Irish Sea, dramatic coastal cliffs and St George’s Channel.
We recommend booking in advance, as they limit the number of people allowed on the island at a time.
Staying at: Celtic Camping & Bunkhouse Accommodation
Only 4 miles from St Davids, the uninterrupted sea views of Celtic Camping & Bunkhouse Accommodation are some of the best in the region. You can park up right on the cliffs, in a spacious field right that has over 200 electrical hookups. The site has direct access to the Pembrokeshire Coast Path, which is a literal stone's throw away. Firewood and coal are available on-site, so you can enjoy a campfire or barbeque in allocated fire pits. This campsite is a great stop from which to embark on the next and final leg of this Pembrokeshire road trip itinerary.
St Davids, Haverfordwest SA62 6DG, United Kingdom
51.926251, -5.220083
Staying at: Rhosson Ganol Caravan and Camping Park
Alternatively, even closer to St Davids, Rhosson Ganol Caravan and Camping Park is a working farm as well as a campsite. It’s known for its modern, clean and well-maintained facilities. This campsite is dog-friendly, and the close proximity to the Pembrokeshire Coast Path makes it ideal for travelling with your pup.
St Davids, Haverfordwest SA62 6PY, United Kingdom
51.879049, -5.303980
Day 5 — Abereiddy and Cardigan
Now we have something very special saved for the last day of your Pembrokeshire road trip itinerary. Pack up your motorhome and head to Abereiddy.
In 1910, following the close of St Brides Slate Mine in 1910, a fisherman decided to blast a channel between the quarry and the sea to create a harbour. And so, the Blue Lagoon was born, a hidden gem of the Pembrokeshire Coast.
The harbour is quite rocky, and it takes some effort to reach the water’s edge, but it is more than worth it once you do. It’s a startling blue colour due to the slate minerals in the water. Aside from swimming, Blue Lagoon is popular with adrenaline junkies for paddle boarding and cliff diving. If you’d like to do more exploring while here, you can walk fifteen minutes to reach the secret beach of Traeth Lynn.
The final stop of your West Wales road trip, and we’re toasting to the end of it in Cardigan. There are plenty of things to do in Cardigan. Firstly, there is Cardigan Castle. Overlooking the River Teifi, this is a Grade I listed building. It was built in the late 11th century, although it was rebuilt in 1244. It’s still in great condition, and events are often held here. You can even get a bite to eat in the castle, and don’t worry, it won’t be mead and boar!
Secondly, we recommend a visit to the Welsh Wildlife Centre. This is a great way to let your little ones safely interact with wildlife, and learn more about them as well. The Teifi Marshes are home to some of the most incredible flora and fauna in the UK, as well as kingfishers, otters and wading birds.
Cardigan Bay is also known for having the largest population of bottlenose dolphins, so keep an eye out or even bring a pair of binoculars!
Staying at: Trebared Farm
You’ll spend your final night of this Wales road trip itinerary at Trebared Farm. This family-friendly campsite has the most incredible sea views to the extent that you’ll struggle to drag yourself away from them. It’s a simple site, which doubles as a working farm, but it has all you need to enjoy an evening in your motorhome. This campsite is within walking distance from the town centre, as well as the beach.
Gwbert, Cardigan SA43 1PR, United Kingdom
52.122784, -4.681303
And finally, we’ve reached the end of our list of things to do in Pembrokeshire on this road trip. Five days isn’t nearly enough time to take in all of the beauty of this region and explore the whole Pembrokeshire Coast Path, but you’ve gotten to enjoy the best of it. If you wanted, you could easily extend your trip to see more of this area, like these short trips near Cardiff or a road trip to Anglesey.
Need a campervan for your trip? You can hire a motorhome at Goboony, for the perfect home on wheels in which to explore Pembrokeshire.
