Steeped in history, Milford Haven is a charming town in Pembrokeshire. Delve into the town's past at its museum, focusing on the community's maritime history. When you've finished, sit near the waterfront for views of the stunning coastline. Have a look at these Milford Haven campsites.
Blackbridge, Milford Haven, Pembrokeshire (1.4 miles)
A relaxed, dog-friendly, off grid, family-run farm campsite in the beautiful Pembrokeshire countryside.
4.84 /5
Milford Haven, Pembrokeshire (2.3 miles)
An eco family friendly camping and glamping site set in the Pembrokeshire Coast National Park.
4.92 /5
Milford Haven, Pembrokeshire (2.5 miles)
Family and dog friendly campsite with onsite Alpacas. Five minutes to Marina and the Pembrokeshire coast path.
4.65 /5
Pembroke, Pembrokeshire (3.3 miles)
A remote, peaceful site near West Angle Bay Beach located in the Pembrokeshire Coast National Park. Dog friendly.
4.52 /5
Haverfordwest, Pembrokeshire (4.6 miles)
Secluded meadow and woodland camping with fire pits in the heart of Pembrokeshire, ten minutes from the coast.
Dale, Pembrokeshire (5.3 miles)
Small site set along the Pembrokeshire Coastal Path with camping and glamping. A short walk to Dale and the beach.
Haverfordwest, Pembrokeshire (5.7 miles)
Peaceful, family and dog friendly camping and glamping with campfires, set by the Pembrokeshire Coast and beaches.
4.93 /5
Dale, Haverfordwest, Pembrokeshire (5.7 miles)
Peaceful glamping site just one minute from the beach and coastal path. Only ten minutes to the beach!
4.89 /5
Haverfordwest , Pembrokeshire (6.8 miles)
Spacious camping pitches on a family farm with sea views, 15 minute walk from dog friendly Druidston Haven Beach.
4.78 /5
Nolton, Haverfordwest, Pembrokeshire (7.1 miles)
Surrounded by nature, gaze at the starry night sky in these luxury adult-only shepherd's huts and geodomes.
4.92 /5
Nolton Haven, Haverfordwest, Pembrokeshire (7.2 miles)
A family run and dog friendly site just five minutes from the beach and picturesque Pembrokeshire Coast.
4.43 /5
Pelcomb Cross, Haverfordwest, Pembrokeshire (7.5 miles)
Family run site for tents, tourers and motorhomes just minutes to the beach. Marvellous views with easy access.
4.8 /5
Lamphey, Pembroke, Pembrokeshire (8.6 miles)
Family and dog friendly camping and glamping with an onsite cafe. Ten minutes to Tenby and sandy beaches!
Narberth, Pembrokeshire (8.9 miles)
Peaceful family friendly site with a games room and dog walk, 20 minutes from beaches at Tenby and Saundersfoot.
4.85 /5
Haverfordwest, Pembrokeshire (9 miles)
Spacious, family-run site with glorious sea views, five minutes from Newgale Beach. Dogs and campfires welcome.
4.73 /5
Roch, Haverfordwest, Pembrokeshire (10 miles)
Friendly, eco campsite with woodland and meadow pitches, private facilities on tent pitches, a yurt and bell tents.
4.76 /5
Manorbier, Tenby, Pembrokeshire (10.7 miles)
Luxury glamping, five minutes from the beach. Choose from a range of geodomes with private hot tubs!
Tenby, Pembrokeshire (10.7 miles)
Tranquil and family friendly glamping in en-suite pods within the Pembrokeshire Coast National Park.
4.82 /5
Haverfordwest, Pembrokeshire (10.8 miles)
Camping and glamping with picnic tables and fire pits, stunning views of the Preseli Hills. 20 minutes to beaches.
4.99 /5
Loveston, Kilgetty, Pembrokeshire (11 miles)
Peaceful, year round touring park with an onsite dog walk. Within 20 minutes of Tenby, Saundersfoot and the coast.
4.76 /5
Jeffreyston, Tenby, Pembrokeshire (12 miles)
A small, peaceful wildlife haven near beaches at Tenby and Saundersfoot, set on the Pembrokeshire Coast.
4.24 /5
Haverfordwest, Pembrokeshire (3.3 miles)
A very quiet, back-to-basics certificated site on a beef and sheep farm with grass pitches for members only.
Rosemarket, Milford Haven, Pembrokeshire (4.1 miles)
Dog friendly glamping cabin pods close to the Pembrokeshire Coast, beaches and lovely Daugleddau Estuary.
Little Haven, Haverfordwest, Pembrokeshire (4.6 miles)
Small and peaceful site offering back-to-nature meadow camping for tents and campervans, close to stunning beaches.
Little Haven, Haverfordwest, Pembrokeshire (4.6 miles)
Friendly and family owned touring and camping park close to the Pembrokeshire Coast, with easy access to the beach.
Haverfordwest, Pembrokeshire (4.9 miles)
Try the spectacular sea views at this back to basics site in the superb Pembrokeshire Coast National Park.
Broad Haven, Haverfordwest, Pembrokeshire (5 miles)
A peaceful and laid-back campsite within a mile of Broad Haven beach and Pembrokeshire Coast Path.
Haverfordwest, Pembrokeshire (5.1 miles)
Campsite and two static caravans based in the heart of Pembrokeshire, in easy reach of beaches and fabulous walks.
Pembroke, Pembrokeshire (6.2 miles)
A welcoming family owned site, perfect for the whole family to relax amongst the stunning countryside.
Haverfordwest, Pembrokeshire (6.6 miles)
Eco-friendly tent and Campervan camp site just ten minutes from the beach and with views of the Preseli Hills.
Broad Haven, Haverfordwest, Pembrokeshire (6.7 miles)
A dog friendly site, with members only camping by the Pembrokeshire Coast, with views of St Brides Bay.
Stackpole, Pembroke, Pembrokeshire (6.9 miles)
Friendly and family run farm campsite for tents and tourers, with optional electric and easy access to the coast.
Cheriton, Stackpole, Pembrokeshire (7 miles)
Chic, dog-friendly camping with yurts, safari tents and an ensuite pod on the Pembrokeshire Coast near top beaches.
Cosheston, Pembroke Dock, Pembrokeshire (7.1 miles)
Luxury bell tent glamping for couples only. A unique wildlife-inspired experience with luxury facilities.
Haverfordwest, Pembrokeshire (7.6 miles)
Peaceful, dog friendly camping and touring site with rural views. Just a ten minute walk to Nolton Haven Beach.
Haverfordwest, Pembrokeshire (8.6 miles)
A small back to basics campsite with great sea views - set by St Brides Bay and the Pembrokeshire Coast.
Haverfordwest, Pembrokeshire (8.7 miles)
A peaceful campsite in Pembrokeshire countryside with secluded pitches, each offering private facilities.
Cresselly, Tenby, Pembrokeshire (9.3 miles)
A quiet family friendly site ideally located in the Pembrokeshire National Park, 15 minutes from the coast.
Kilgetty, Pembrokeshire (9.5 miles)
Idyllic, family-friendly tent and touring farm campsite ideal for exploring Pembrokeshire. Set by Cresswell River.
Newgale, Haverfordwest, Pembrokeshire (10.3 miles)
The only beachfront campsite in Pembrokeshire. Ideal for exploring the area, hiking, surfing, kayaking and fishing.
Haverfordwest, Pembrokeshire (11 miles)
A well-sheltered site situated in a pleasantly wooded valley, just a few miles from St Davids and its beaches.
Tenby, Pembrokeshire (11.3 miles)
A park by the Pembrokeshire Coast, the closest site to award-winning Manorbier beach and only 5 miles from Tenby.
Tenby, Pembrokeshire (11.6 miles)
Unique glamping near the Pembrokeshire Coast and Tenby's beaches - a glamping plane, UFO saucer, geodome and more!