Top 11 Dog Friendly Days Out In Pembrokeshire

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Pembrokeshire is an extremely popular place to go for a short break with dogs, particularly as there are some lovely dog friendly places to stay and gorgeous dog friendly beaches. Better still, there are some really fun places to take your dog for a day out. Having spent a significant amount of time in the area over the years, we’ve been to many of these locations. All the ones we’ve visited have been brilliant, and really happy to see canine visitors.

Don’t forget to take your camera if you visit some of the more unusual locations. Or of course the beach – this is one of my favourite photos of Bubbles, dogs are always happiest on the beach – which is why Pembrokeshire’s dog friendly beaches are my #1 dog friendly day out.

1. Dog Friendly Beaches in Pembrokeshire

There are so many beautiful dog friendly beaches in Pembrokeshire that I’ve only listed the ones that allow dogs all year round. If you’re visiting outside of the summer months, there will be more beaches you can visit.

Here’s a full list of Pembrokeshire beaches with no dog restrictions (dogs welcome all year round, no seasonal bans). I’ve grouped them by area and included directions. However, there is a map above of all attractions featured in this guide to dog friendly days out in Pembrokeshire – including the Pembrokeshire beaches that are dog friendly all year round.

North Pembrokeshire

Aberbach (Little Haven): Small cove near Fishguard. Directions: Take the A40 towards Fishguard, then the B4313 towards Dinas Cross. Look for the signed footpath near Aberbach Farm. Park on the roadside.

Abercastle: Harbour beach with a car park right above it. Directions: From the A487 between Fishguard and St Davids, turn onto the B4313 towards Abercastle. Follow the lane to the small car park at the harbour.

Abereiddy: The famous Blue Lagoon beach. Directions: From the A487, turn onto the B4583 towards Abereiddy. Car park at the top of the hill, then a steep walk down.

Aberfelin: Tiny pebble cove near Trefin. Directions: From the A487, follow signs to Trefin, then the coastal path south for about 10 minutes.

Abermawr: Wide shingle beach near Fishguard. Directions: Take the A40 to Fishguard, then the coast road past Lower Town. Car park at the end of the lane.

Ceibwr Bay: Dramatic cliff-framed beach near Moylgrove. Directions: From the A487 at Cardigan, take the B4546 towards Moylgrove. Follow signs to Ceibwr. Small car park at the bottom.

Cwm-yr-Eglwys: Sheltered cove near Dinas Cross. Directions: From the A487, turn at Dinas Cross towards the coast. Car park above the beach.

Goodwick Sands: Dogs are banned from a section of the beach from May to September, but the rest of the beach is dog friendly all year round. Large sandy beach near Fishguard harbour. Directions: Follow the A40 into Goodwick, turn towards the harbour. Large car park.

Newport Parrog: Sandy beach with a river mouth. Directions: From Newport town, follow signs to Parrog. Car park right by the beach.

Newport Sands: Huge stretch of sand at the mouth of the Nevern estuary. Directions: From Newport, cross the bridge and turn left. Large car park.

Poppit Sands: Dogs are banned from a section of the beach from May to September, but the rest of the beach is dog friendly all year round. Massive sandy beach near Cardigan. Directions: From Cardigan, follow the B4546 towards St Dogmaels. Large car park at the beach.

Pwllgwaelod: Small, quiet beach near Dinas Cross. Directions: From the A487 at Dinas Cross, follow signs to Cwm-yr-Eglwys, then continue along the coast road. Small car park.

Traeth Llyfn: Secluded shingle beach near Abercastle. Directions: Park at Abercastle and walk the coastal path south for about 15 minutes. No direct road access.

St Davids Peninsula

Caerfai Bay: Sandy cove just south of St Davids. Directions: From St Davids, take the Caerfai Road out of town. Car park at the end (pay and display).

Porthclais Harbour: Tiny harbour beach near St Davids. Directions: From St Davids, follow the Porthclais Road. Small car park at the harbour.

Porthlysgi: Quiet pebble beach near St Justinians. Directions: Park at St Justinians lifeboat station and walk the coastal path north for about 10 minutes.

Porthmelgan: Small cove near St Davids Head. Directions: Park at Whitesands (pay and display, but Whitesands itself has a full dog ban in summer). Walk the coastal path north for 15 minutes.

Porthmynawyd: Secluded beach near St Davids. Directions: Park at Caerfai and walk the coastal path south for about 20 minutes.

Porthselau (also known as Porthsele): Small sandy cove near St Davids. Directions: From St Davids, take the road towards Porthselau. Small car park at the beach. This is right next to Pencarnan campsite, which is one of our favourite places to stay with the dogs. You can read my review of Pencarnan – although this was written a few years ago and I know it has improved over the years.

Solva Harbour: Harbour beach in the village of Solva. Directions: From the A487, turn into Solva and follow the road down to the harbour. Car park at the top of the village.

St Brides Haven: Small sandy cove near the village of St Brides. Directions: From the A487, turn towards St Brides. Follow the lane to the small car park.

Marloes Peninsula

Lindsway Bay: Small, quiet cove near Little Haven. Directions: Park at Little Haven and walk the coastal path north for about 10 minutes.

Marloes Sands: Huge, stunning sandy beach. Directions: From the B4327, follow signs to Marloes village. Car park at the end of the lane, then a 15-minute walk down.

Martin’s Haven: Small pebble beach and launch point for Skomer Island. Directions: From Marloes village, follow the lane towards the Deer Park. Car park at the end.

Musselwick: Tiny cove near Marloes. Directions: Park at Marloes Sands car park and walk the coastal path south for about 10 minutes.

Nolton Haven: Small sandy beach in the village. Directions: From the B4341, turn towards Nolton Haven. Car park right by the beach.

Priory Bay: Quiet beach near Dale. Directions: From Dale village, follow the coast path east for about 10 minutes. No direct car park.

Watwick Bay: Secluded beach near Dale. Directions: Park at Dale and walk the coastal path south for about 15 minutes.

West Dale: Sandy beach at the edge of Dale village. Directions: From Dale, follow the road towards the sailing club. Limited roadside parking.

South Pembrokeshire

Barafundle Bay: Iconic, remote sandy beach (no direct road access). Directions: Park at Stackpole Quay car park (pay and display) and walk the coastal path east for 15 minutes.

Broad Haven South: Large sandy cove, often really quiet. Directions: From the B4319, follow signs to Broad Haven South. Car park at the top, then a walk down steps – OR park at the Bosherston Lily Ponds trail on the Stackpole Estate. This is my personal favourite, particularly having seen otters in the lily ponds on multiple occasions. This is also a beach that you will frequently have to yourself off-season due to the necessity of a fairly decent walk to get to it. The lily ponds and Broad Haven South beach are by some distance my favourite place in Pembrokeshire, and possibly the whole of the UK.

Church Doors Cove: Small, dramatic cove near Bosherston. Directions: Park at Broad Haven South and walk the coastal path south for about 5 minutes.

Druidston Haven: Sandy beach near Broad Haven. Directions: From the B4341, turn towards Druidston. Car park at the Druidston Hotel.

East Angle Bay: Sandy beach on the Angle Peninsula. Directions: From Pembroke, follow the B4320 to Angle village, then continue towards the oil terminal. Car park at the bay.

Freshwater East: Large sandy beach. Directions: From the A4139, follow signs to Freshwater East. Large car park.

Freshwater West: Huge, wild beach. Directions: From the B4319, follow signs to Freshwater West. Large car park (pay and display). Freshwater West has become an unlikely must-visit spot for Harry Potter fans, since it’s the location of Dobby’s grave. Whilst in the past, fans were able to leave tributes, this is no longer the case. However, you can still visit and take a photo. If you’re wondering (as I was) why this beach is the location for the grave, it’s because this is where Shell Cottage was filmed in The Deathly Hallows. To get to the grave, walk from the car park and down onto the beach. Then, head for the lifeguard hut. Walk past the lifeguard hut and climb the dunes – you should be able to see the quite significant memorial at this point, and make your way towards it.

Gelliswick Beach: Small beach near Milford Haven. Directions: From Milford Haven, follow signs to Hakin and Gelliswick. Limited roadside parking.

Manorbier Beach: Sandy beach below Manorbier Castle. Directions: From the A4139, turn towards Manorbier village. Car park above the beach.

Monkstone Beach: Hidden beach between Saundersfoot and Tenby. Directions: From the A478, turn towards Saundersfoot. Park at the Monkstone Point car park and walk down the steep path.

Penally Beach: Long sandy beach near Tenby. Directions: From the A4139, turn into Penally village. Car park near the railway station.

Sandy Haven: Sandy beach near Dale. Directions: From the B4327, turn towards Sandy Haven. Small car park.

Skrinkle Haven: Secluded beach near Manorbier. Directions: Park at Manorbier Beach and walk the coastal path east for about 10 minutes.

Stackpole Quay: Small harbour beach. Directions: From the B4319, follow signs to Stackpole Quay. Car park (pay and display).

Swanlake Bay – Quiet beach near Manorbier. Directions: Park at Manorbier Beach and walk the coastal path west for about 10 minutes.

Waterwynch Bay: Small cove near Tenby. Directions: From Tenby, walk the coastal path south past the golf course for about 15 minutes. No car park.

West Angle Bay: Sandy beach on the Angle Peninsula. Directions: From Pembroke, follow the B4320 to Angle village, then continue past the church. Car park at the beach.

Wisemans Bridge: Sandy beach near Saundersfoot. Directions: From the A478, turn towards Wisemans Bridge. Car park at the beach.

2. Heatherton World of Activities

Heatherton is a really dog friendly place to visit, with loads of things to do for humans and dogs alike. They even go as far as to provide an agility course with 10 obstacles for dogs to enjoy. There are plenty of dog water bowls around and plenty of treats and dog ice cream is available to buy. Dogs can’t go into the Triangle restaurant, coffee shop or main reception. A list of things to do at Heatherton is below. Do check the prices on the website because quite a lot of them incur an additional charge on top of your entry price / tokens.

Outdoor Activities Include

• Adventure Golf: Two 18-hole courses (a woodland course and a pirate-themed one)
• Tree Top Trails: Rope bridges, zip wires, and climbing nets up in the trees
• Go Karting: Pedal go-karts on a track
• Paddling Pool & Play Areas: Outdoor splash zone and adventure playgrounds
• Foot Golf: Football meets golf on a dedicated course
• Outdoor play: There are loads of different outdoor play activities for kids
• Dog Agility Course: 10 fun obstacles for dogs to try
• Paintballing: In the adrenaline zone

Indoor Activities Include

• Ten Pin Bowling: Two lanes
• Laser Tag: Indoor arena with a sci-fi theme
• Soft Play: For younger kids
• Escape Rooms: Small group puzzle rooms

Food & Drink

• The Stables Bar & Kitchen: Indoor restaurant, dogs are not allowed inside but there is a covered outdoor seating area
• The Potting Shed: Outdoor café with takeaway food (dog-friendly)
• Ice cream kiosk: Seasonal

Website: Heatherton World of Activities

3. Dog Friendly Tenby Boat Trips and Caldy Island

I absolutely love boat trips as a fun thing to do with the dogs. It’s a really unusual way to spend time with them, and they’re always surprisingly comfortable on water and definitely curious to see what’s going on!

Tenby Boat Trips is a wildlife-focused operator offering unforgettable trips around South Pembrokeshire’s most dramatic islands, including Caldey and St. Margaret’s. Their Seal Safari is extremely popular, with skippers expertly locating grey seals and a wealth of seabirds. Puffins, fulmars, and more depending on the time of the year. Wildlife watching is balanced with ensuring the welfare of the birds and animals and providing a brilliant on-the-water experience. You can choose between a large, stable cruiser with facilities or a nimbler RIB for a more exhilarating ride, and each trip adapts to the day’s conditions, seasons, and tides. They also run an Island Ranger service to Caldey and dedicated fishing trips.

On their Island Ranger boat, dogs are allowed on the aft and fore deck but not the top deck. On the Seal Safari, dogs can go on board and will be allocated seats by the crew. They do make a point of asking dog owners to take their dogs for a walk before boarding and say that if they do make a mess, you’ll be required to clean it up.

Website: Tenby Boat Trips

4. Llys-y-frân Lake

Llys-y-frân Lake is a fantastic all-in-one outdoor destination near Haverfordwest, perfect for a family day out or an active adventure in Pembrokeshire. The lake itself is the centrepiece, offering water activities like kayaking, paddleboarding, and sailing, plus a floating Aqua Park with inflatable obstacles. On land, there’s a huge range of things to keep everyone busy: walking and cycling trails (with bike hire available), a pump track and skills area, an adventure playground, a dog agility area, and a Crazi Bugz off-road buggy experience. You can also try fishing, cold water dipping, or simply relax at the Lakeview Café after a stroll. The on-site campsite makes it easy to turn your visit into a longer escape, and the visitor centre hosts regular events throughout the year. Whether you’re after high-energy activities or a peaceful lakeside wander, Llys-y-frân has something for every age and pace. Most activities need to be booked in advance.

Llys-y-frân makes it clear that dogs are welcome but it’s clear that they can only be off lead in the agility area. Elsewhere, they’re allowed on the tracks around the reservoir but they need to be on a lead and stay out of the water. This is to protect to the wildlife on site.

Website: Llys-y-frân Lake

5. Castell Henllys Iron Age Village

Castell Henllys is another really unusual day out that welcomes dogs. This immersive Iron Age experience is ideal for history lovers and families. It’s a living archaeology site where you can explore reconstructed roundhouses set into the contours of an ancient hillfort, wander interpretation trails, and see ongoing archaeological work up close. Hands-on activities and seasonal events (crafts, storytelling, experimental archaeology) bring the past to life, while friendly costumed guides and living-history demonstrations make it especially engaging for children. On-site facilities include a visitor centre with a café and a small shop, picnic areas, and accessible paths that make the site easy to combine with nearby coastal walks. Whether you want a relaxed stroll among the earthworks, a guided tour to learn about Iron Age life, or a child-focused workshop, Castell Henllys offers a thoughtful, family-friendly stop on any Pembrokeshire itinerary.

Castell Henllys welcomes dogs to explore the site on a lead. If you need a poo bag, they can provide one at reception.

Website: Castell Henllys Pembrokeshire Coast

6. Colby Woodland Garden (National Trust)

National Trust properties have always been my go-to for dog friendly days out. Colby Woodland Garden National Trust is a wooded valley with a secret garden and plenty of places to play. Visitors can explore the eight-acre woodland garden that used to be an 18th century coalfield. Stroll through wildflower meadows, take a look at the walled garden with gothic gazebo and relax for a bite to eat in the tea-room. It’s a short walk from here to Amroth village and the coast.

Dogs are welcome on leads in the woodland gardens. You do need to be very aware of wildlife here, as there are ground nesting birds, water birds and otters. Dogs can’t go in the bookshop or walled garden. Water bowls are available around the site and dog treats and doggy ice cream are served in the Bothy tearoom.

Website: Colby Woodland Garden

7. Dog Friendly Voyages of Discovery Boat Trips

Ramsey Island Boat Trips (run by Voyages of Discovery from St Davids) offer one of Pembrokeshire’s best wildlife and coastal adventures. The main draw is a Ramsey Island Voyage — a boat trip around the island’s dramatic sea cliffs and sea stacks, with excellent chances to see Atlantic grey seals, puffins, gannets, razorbills, and other seabirds, plus dolphins and porpoises in the surrounding waters. You can also choose more specialised trips: an Evening Puffin & Shearwater Voyage that watches tens of thousands of Manx shearwaters return to their burrows at dusk, an Offshore Islands & Dolphin Voyage that pushes further out to sea, or a Skomer Island Voyage for a landing trip on neighbouring Skomer. New for this season is Powerboat Coasteering — a faster, more exhilarating way to explore the coastline. All trips depart from St Davids and are suitable for all ages, with knowledgeable guides on board pointing out wildlife and local history. It’s a brilliant option for nature lovers, photographers, and families wanting to get out on the water and see Pembrokeshire’s marine life up close.

Dogs are welcome on the Ramsey Island Voyage boat. They do say that there’s a vetting process for behaviour for the sake of other customers, but they also say that they’ve taken cats and parrots on the boat before now as well, so I shouldn’t imagine the dog vetting procedure is too stringent if even being a dog isn’t essential.

Website: Voyages of Discovery

8. Manorbier Castle

Manorbier is a beautiful part of Pembrokeshire, and it’s well worth a visit to the castle while you’re there. The Castle is a beautifully preserved Norman castle perched on the clifftops of the Pembrokeshire Coast Path, with stunning views over Manorbier Beach.

Visitors can explore the castle’s turrets, great hall, and chapel, then wander the landscaped gardens designed by Irish plantswoman Daphne Shackleton a lovely mix of history and horticulture. The site often has trails running for younger visitors, particularly during school holidays. The castle also hosts seasonal events and weddings, so do check the website to make sure it’s open before you visit. With its clifftop setting, family-friendly activities, and easy access to the beach and coastal path, Manorbier Castle makes a brilliant stop on any Pembrokeshire itinerary.

Dogs are welcome on leads as long as they’re well behaved, and drinking water is available for them near to the café entrance. I can’t work out if dogs can actually go inside the tearoom or if they’re just allowed to sit outside. However, I can see that they’ve got a doggie menu and even a stick library for them. If you’re just visiting the tearoom, there’s no need to buy an admission ticket for the castle.

Website: Manorbier Castle

9. Picton Castle Gardens

Picton Castle is a beautiful medieval castle set in 40 acres of woodland and landscaped gardens near Haverfordwest, offering a relaxed, family-friendly day out. The castle itself is packed with history and you can explore the rooms, towers, and a fascinating collection of paintings, furniture, and artefacts from around the world. Outside, the walled garden is a highlight, with herbaceous borders, a kitchen garden, and a tropical glasshouse. The Woodland Garden is perfect for a peaceful stroll, with rhododendrons, azaleas, and a stream running through it. For families, there’s an adventure playground, a giant Gruffalo trail, and a dinosaur trail that younger children love. The Castle Café serves homemade food and cakes, and there’s also a gift shop and plant nursery. With a busy programme of seasonal events including outdoor theatre, craft fairs, and children’s activities, Picton Castle is a lovely, unhurried option for a Pembrokeshire day out.

Dogs are welcome across most of the estate, including the 40 acres of gardens and woodland walks. The Walled Garden, Woodland Garden, and the various trails through the grounds are all dog-friendly on leads. The Gruffalo Trail and Dinosaur Trail are fine for dogs too, so the whole family (including the four-legged members) can enjoy the outdoor spaces together. However, dogs are not permitted inside the castle itself, and they’re not allowed in the Castle Café. However, there are outdoor picnic tables and benches where you can sit with your dog. 

Website: Picton Castle Gardens

10. Dog Friendly Pembroke Castle

Pembroke Castle is one of Wales’ most impressive medieval fortresses, a vast, well-preserved Norman castle that was the birthplace of Henry VII. It’s packed with things to see and do for all ages. You can explore the massive Great Keep (the largest circular keep in Wales), climb the towers for panoramic views over the town and river, and wander through the Wogan Cavern, a huge natural limestone cave beneath the castle. The Gatehouse and Barbican are wonderfully intact, and there’s a Great Map of Wales, the Castle Kitchen, and the Dungeon Tower to discover. For families, there are regular events like Knight School, Discover the Dragon, and living history days with The Sealed Knot.

Pembroke Castle is very dog-friendly. Well-behaved dogs on short leads are welcome throughout most of the site, including the grounds, towers, battlements, and even on the free guided tours. The staff are used to canine visitors and water bowls are provided in various spots around the castle. However, dogs are not allowed inside the café or the gift shop. There are tables outside the café where you can sit with dogs. The castle has lots of narrow, spiral stone staircases, which can be tricky for dogs, particularly large ones that can’t be carried.

Note: I’ve noticed that it’s 10% cheaper to book this one online in advance.

Website: Pembroke Castle

11. Stackpole Estate (National Trust)

I know I’m biased and I know I’ve already mentioned this in the beach section above, but the walk down to Broad Haven South via Bosherston Lily Ponds is my absolute favourite part of Pembrokeshire. So, the Stackpole Estate is getting its own little write-up here. This is another National Trust property, but it’s quite different to the standard stately homes, having around 3000 acres to explore. There are plenty of walking and mountain biking trails and loads of things to do at Stackpole. For example, kayaking and coasteering from Stackpole Quay and surf-paddleboarding from both Freshwater West and Stackpole Quay. This is easily a full day out on its own if you enjoy walking and being outdoors.

You may have gathered already that for me, Bosherston Lily Ponds are the highlight of Stackpole Estate. The ponds are a series of small, interconnected lakes famous for their water lilies (best in June and July), with footbridges and paths that crisscross the water. I’ve probably seen otters there around half of the times I’ve visited, so do keep a look out when you’re walking down past the ponds – and make sure dogs stay on leads.

Walk down through the lily ponds to Broad Haven South sandy bay, or head to Barafundle Bay, often called one of the best beaches in Britain. This is a short walk from the Stackpole Quay car park, and boasts golden sand and turquoise water. Stackpole Quay itself has a small harbour and the Boathouse Tea-room for coffee, cake, and light lunches (and dogs are welcome in the bar area). The Stackpole Walled Garden is a peaceful spot with herbaceous borders, a kitchen garden, and a glasshouse.

Visiting with dogs

Stackpole Estate is one of the most dog-friendly spots in Pembrokeshire. Dogs are welcome across the entire estate, including the parkland, woodland trails, Bosherston Lily Ponds paths, the coast path from Stackpole Quay, and both Broad Haven South and Barafundle Bay beaches year-round, plus the Boathouse Tea-room bar area. You’ll need to keep your dog under close control, put them on a lead around livestock and wildlife, never leave them in the car, and clean up after them (bins are at the main car parks). There’s no enclosed off-lead area, so a lead is safest, especially near the lily ponds and on busier summer beaches. With miles of paths, two stunning beaches, and plenty of woodland shade, it’s a fantastic place for a long, varied walk with your dog.

Website: Stackpole Estate