Route

• Cross the bridge below Pembroke Castle, turn immediately left, then right beside the new houses

• The path skirts round the north side of the Pembroke River, until it meets a housing estate and a tarmac road

• Head up hill and down the other side into Pembroke Dock, keeping, as near as you can, in a straight line until you reach wall surrounding the old naval dockyard. Keep the wall on your left

• Straight in front of you, you’ll discover a Martello Tower, built to defend the docks

• At the roundabout next to the Travelodge, head up the hill, continue in as straight a line as you can until you reach the bridge over the Cleddau

• HMS Warrior was once moored a little up river, below the wooded bank. It was used as a floating dock for the Navy fuel depot that used to be here

• After crossing the bridge, continue along the main road and over the next bridge

• Head into Neyland and down the hill, following the road round to the right until it starts heading inland

• Turn right down a steep bank to join the pill below the bridge

• Head along the old railway track, past the marina and skirt round Neyland until the road starts heading inland

• Turn left through Llanstadwell, until you reach the Ferry Inn

• Turn left, up the steep track behind the pub. This takes you round the refinery before joining a road

• Turn left and follow the road as it winds its way down to Castle Pill

• Cross the pill, head a little up hill and turn left. Follow this path until you emerge onto The Rath, a fine promenade with superb views over the Haven

• The way into Milford Haven and the marina are uphill from here

• If in doubt, follow the acorn symbols that indicate where the route goes