Campervan and Motorhome Stopovers in Pembrokeshire
Motorhome Touring in Pembrokeshire
Pembrokeshire has some of the best beaches in Britain, and that's not an exaggeration. Barafundle Bay regularly appears in "world's best beaches" lists, and on a clear day with the tide out, you'd believe it. The entire coastline is a national park, which keeps development in check and means the cliffs, coves, and headlands look much as they did decades ago. For motorhomers, it's a compact county that you can tour properly in four or five days. The roads are reasonable, the campsites are plentiful, and you're never more than 15 minutes from the sea. The catch? It rains. Pembrokeshire gets Atlantic weather systems head-on, and even in summer you'll want waterproofs to hand. But when the sun comes out, there's nowhere in Wales you'd rather be.
Top Stopovers and Campsites in Pembrokeshire
The stretch between Tenby and Broad Haven has the densest cluster of campsites. Most are family-run, open Easter to October, and offer hookups with hardstanding. The larger holiday parks near Tenby can feel crowded in August, but they have the best facilities including laundry, shop, and proper waste disposal.
The north coast around St Davids and Fishguard is quieter. Campsites here tend to be smaller, often just a couple of fields with basic amenities. What you lose in facilities you gain in peace. There are a few CL sites tucked into farm lanes between Newport and Cardigan that are genuinely hard to beat for location, if you don't mind a composting toilet and no shower block.
Britstops options exist in Pembrokeshire, mainly pub stopovers in the inland villages. They're useful as overnight stops between coast visits, though don't expect anything beyond a flat car park. The Preseli Hills area inland has a scattering of farm sites that are rarely full, even in peak season. Good for a night away from the coast crowds.
Suggested Touring Routes in Pembrokeshire
The Coastal Loop (3-4 days)
Start at Tenby, which is the most polished town in the county. The South Beach car park can take motorhomes but has a height barrier at the entrance to the lower section, so check before committing. Head west on the A4139 to Pembroke (the castle is worth an hour), then follow the B4320 to the coast at Freshwater West. This beach featured in the Harry Potter films and has a proper wild feel with big Atlantic waves. From there, take the B4319 through Castlemartin to Bosherston, where a short walk takes you to the lily ponds and then down to Barafundle Bay. Continue along the coast road via Stackpole to Broad Haven and on to St Davids. The roads are B-class throughout but perfectly manageable. From St Davids, the A487 takes you north to Fishguard, then the coast road through Newport and back inland. Total loop is about 100 miles.
The St Davids Peninsula (1-2 days)
St Davids is Britain's smallest city, and the peninsula around it deserves its own time. Park at the main car park in St Davids (no height barrier, pay-and-display) and walk to the cathedral, which sits in a hollow below the town. Then drive out to Whitesands Bay via the B4583. The beach car park takes motorhomes and is popular with surfers. The coast path from Whitesands to St Justinian is about 3 miles and gives you views of Ramsey Island, where you can spot seals from the clifftop. Boat trips to the island run from St Justinian in summer. The lane to St Justinian is narrow and has limited turning space, so don't take anything over 7 metres.
The Preseli Hills and Inland Pembrokeshire (1-2 days)
Most visitors skip inland Pembrokeshire entirely, which is their loss. The Preseli Hills are low (536 metres at Foel Cwmcerwyn) but atmospheric, with the bluestone quarries that supplied Stonehenge. A walk along the Golden Road ridge path gives wide views to the coast in both directions. The start point at Bwlch Gwynt has a small car park suitable for motorhomes. Below the hills, the Gwaun Valley is one of the most sheltered and unusual valleys in Wales. The tiny hamlet of Pontfaen still celebrates New Year on 13th January (Old New Year). The lanes through the valley are narrow but quiet, and there's a pub at Dyffryn Arms that serves beer through a hatch from the front room.
Pub stopover
Begelly Arms Hotel Pub stopover
Kilgetty, Pembrokeshire, United Kingdom
Pub stopover
The Begelly Arms Hotel Pub stopover
Kilgetty, Pembrokeshire, United Kingdom
Campsite
Rivendell Certified Location Campsite
, Pembrokeshire, United Kingdom
Campsite
Newton East Farm Certified Location Campsite
Wolfscastle, Haverfordwest, Pembrokeshire, United Kingdom
Campsite
Cae Pen-Y-Mynydd Certified Location Campsite
Haverfordwest, Pembrokeshire, United KingdomThings to Do in Pembrokeshire
The Pembrokeshire Coast Path runs 186 miles around the entire coastline and is one of the best long-distance walks in Britain. You don't need to do the whole thing. Short sections from any of the coastal car parks give you clifftop walking with sea views. The stretch from Marloes Sands to Martin's Haven (about 3 miles) is one of our favourites: quiet, with views of Skomer Island and a good chance of seeing puffins from the cliff edge between May and July.
Boat trips are a big draw. From Martin's Haven, you can take a day trip to Skomer Island during seabird season (April to September). Booking is essential and goes live in March. From Tenby, boats run to Caldey Island, where monks have lived since the 6th century and still sell perfume and chocolate from the monastery. It's pleasantly odd.
Coasteering was invented in Pembrokeshire, and there are several outfitters around St Davids and Abereiddy. It involves swimming, cliff jumping, and scrambling along the rocky coast, and it's genuinely good fun if you don't mind cold water. For something drier, the medieval Pembroke Castle is the birthplace of Henry VII, and Carew Castle near the estuary combines ruins with a working tidal mill. Tenby itself deserves at least half a day for its pastel-coloured harbour houses, town walls, and a choice of beaches.
Practical Information for Motorhomers in Pembrokeshire
Service points are available at most of the larger campsites, particularly around the Tenby and Broad Haven areas. There's no public motorhome service network, so plan waste disposal around your campsite stops. Fresh water is usually available at sites even if you're just stopping to empty tanks.
Fuel stations are reasonably spaced along the A40 and A477 corridors. Haverfordwest is the main town for shopping and fuel, with Tesco and Morrisons both offering easy-access stations with high canopies. Avoid the small village stations if you're watching your budget, as prices are higher. There's no fuel between St Davids and Fishguard, so don't set off along the north coast on an empty tank.
Most of Pembrokeshire's roads are fine for motorhomes. The A40, A477, and A487 are the main routes and all handle large vehicles comfortably. The coast roads and lanes to beaches are narrower, and some have passing places only. The lane to Marloes Sands is particularly tight and has a rough car park at the end. Tenby's town centre streets are narrow, and the main beach car parks have height restrictions at 2.1m. Use the Park and Ride on the approach instead. The Pembrokeshire Coastal Bus service is useful for getting to trailheads without moving your motorhome.
FAQs: Motorhome Touring in Pembrokeshire
Can I park a motorhome in Tenby?
The town centre car parks are mostly unsuitable for motorhomes due to height barriers and tight spaces. Use the Park and Ride on the A478 approach, which runs a shuttle bus into town regularly during the season. Several campsites on the outskirts also offer day parking.
Are Pembrokeshire's beaches accessible by motorhome?
Most beach car parks are accessible, though some require narrow lane approaches. Freshwater West, Newgale, and Whitesands Bay all have large car parks that take motorhomes. Barafundle Bay requires a walk from the Stackpole car park. Always check height restrictions before driving into a car park.
What's the best time to visit Pembrokeshire by motorhome?
Late May through June and September. You'll catch the puffin season on Skomer, the wildflowers on the coast path are at their best, and you'll avoid the school holiday rush. July and August bring crowds to the popular beaches and campsites fill quickly.
Can I wild camp in Pembrokeshire in a motorhome?
Wales doesn't have Scotland's right to roam, so wild camping isn't legal without landowner permission. Car parks generally prohibit overnight stays. Stick to campsites, CLs, and Britstops. There are enough affordable options that you shouldn't need to wild camp.
Where can I empty my motorhome waste in Pembrokeshire?
Larger campsites offer chemical waste disposal, and most will let non-residents use facilities for a small fee. There are no public motorhome service points in the county. Plan your waste stops around campsite visits, particularly at the larger sites near Tenby or Broad Haven.
Is there a ferry from Pembrokeshire to Ireland?
Yes. Irish Ferries and Stena Line run services from Pembroke Dock and Fishguard to Rosslare in Ireland. Both accept motorhomes. The crossing takes about 3.5 to 4 hours. Book ahead in summer, especially if you want a cabin.
Explore More
From Pembrokeshire, head north along the Cardigan Bay coast into Ceredigion, or east into the Brecon Beacons (now Bannau Brycheiniog). For more Welsh destinations, see our full Wales motorhome touring guide.