A Milford Haven Road Trip by Campervan Discovering the Best Campsites and Seaside Charms
Read Time: About 17 minutes
Herbrandston, Sandy Haven - Sjaak Kempe
We’re back with a new segment on our road trip through West Wales. We’re sad to say goodbye to Tenby, but we have a whole new campervan road trip itinerary that takes us through the best attractions in Milford Haven. The things to sea, places to visit, walking, beaches plus the best campsites in Wales and also campervan hire! We have got you covered.
Sandy Haven Camping Park enjoys a spectacular position on a cliff, overlooking a wonderfully inviting beach. The spacious, friendly site is no more than ten minutes from Milford's historic port. The haven becomes a splendid creek for crabbing as well. Sandy Haven Camping Park welcomes tents and touring vehicles. The usual facilities include hot showers, toilets, washing up area, and drinking water. Pets welcome.
As always, we provide a flexible route and encourage our readers to modify our road trip itinerary through West Wales to include the attractions and days out that best cater to the tastes and travel time. The drive into Milford Haven from Tenby takes around 40 minutes and covers a distance of 17.8 miles via the B4318 and A477. The town has an excellent bus and railway station with links to Haverfordwest and Dale, making it easy to leave your camper or car on your pitch, and save on parking fees!
If you’re searching for a spot to set up base or simply looking for a place to rest your head for a night, Milford Haven has an array of camping options catering to all budgets and accommodation needs. Spend an afternoon by the ocean, take the family out for a gentle coastal walk, and cool down in the ocean before sitting down to some of the freshest seafood around. Find a campsite in Milford Haven, and leave the complexities of the modern world behind as you reconnect with nature and enjoy a slower pace of life.
- Things to do in Milford Haven
- What is Milford Haven famous for?
- Is Milford Haven Worth Visiting?
- Milford Haven Campervan Hire Cost
- Best Campervan Road Trip Milford Haven
- Is Milford Haven The Deepest Port In The World
- Walking Routes from Milford Haven
- Milford Haven Camping
- Best Campsites at Milford Haven
- tent-camping-at-milford-haven
- Campsites at Milford Haven for Motorhomes
- Milford Haven Camping Caravans
- Milford Haven Camping Cabins
- Hwyl Fawr To Milford Haven
Things to do in Milford Haven
The Waterfront Gallery. Jessicasheehan.Artist
Mosey down to the waterfront in your campervan hire and sit down to a light lunch, some coffee, or perhaps even a glass of tipple and stretch your legs after a nearly hour long drive. There are all kinds of shops to keep both adults and nippers entertained, including an ice cream shop, a craft workshop for kids, art galleries, cafes, bars, and restaurants. Anyone hankering for an authentic taste of Welsh cuisine can pop over to Trwffl, and sample sea salt truffles, dark chocolate and more. Holidaymakers hankering for a heartier meal can make their way to Martha’s Vineyard for spectacular views over the marina, and enjoy a fresh lunch on the covered terrace.
Work off your meal by visiting the Waterfront Gallery in a Grade II listed building that once serviced enormous whaling ships in the 18th century. Browse through one of Pembrokeshire’s leading galleries, brimming with captivating original work. All sales go towards improving the arts and crafts scene in Pembrokeshire, which makes it ideal for a spot of guilt-free shopping. Dive into local history at the Milford Haven Museum and discover the town’s importance in supporting energy demands across the world.
What is Milford Haven Famous For?
Milford Haven is primarily famous for its deep-water harbour, one of the largest and deepest natural ports in the world. This geographical feature has made Milford Haven a significant hub for maritime activities, including shipping, fishing, and naval operations. The town's strategic location also played a crucial role in its development as a dominant port for trade and industry in Wales. The town is known for its beautiful coastal scenery, attracting outdoorsy types who love to explore its rugged cliffs, sandy beaches, and picturesque waterways.
The town also dates its history back to the Vikings, with chieftain Hubba landing a fleet of 23 ships in the port in 854. Since then, the Milford Haven has been the centre of many campaigns, including Richard ll and Cromwell. There are several lovely historical attractions that speak of the town’s vibrant history, including crumbling remains of Pill Priory and stunning Georgian houses along Hamilton Terrace.
Is Milford Haven Worth Visiting?
Pembroke Castle. Pio3
Yes, Milford Haven is definitely worth visiting, especially if you appreciate maritime history, scenic coastal landscapes, and outdoor activities. Look forward to stunning coastal scenery, with rugged cliffs, white sand beaches, and peaceful coastal walks. Nature lovers can enjoy birdwatching, and exploring lush reserves like the nearby Pembrokeshire Coast National Park. The town also boasts rich maritime history and holds plenty of attractions in and around the settlement. Boat trips, kayaking, fishing, and exploring nearby historic sites like Pembroke Castle are just some of the activities on offer. You'll also find plenty of restaurants offering fresh catches straight from the harbour. It's a cracking spot to sample local Welsh cuisine, enjoy dining with views of the water.
Milford Haven Campervan Hire Cost
Check out our campervans for hire in Milford Haven, and you’ll find a range of models and makes at your fingertips. Scroll through our campervans in and around Milford Haven, speak directly to private owners, and book your campervan in no time.
Age: 25-70
Travel: Local Area Only
Gearbox: Manual
Cosmo is practically perfect in every way. Handsome and eye-catching with his shiny two-tone finish. Practical for one person wanting to get away from it all, perfect for a couples romantic break, or just right for a family looking for a cosy yet surprisingly spacious way to explore the rugged Welsh coast.
All you need to do is find a campervan you like, add in your dates plus hire questions, and whizz over a message to the van owner. Our vans are perfect for road trips, and many offer a range of home comforts, like a twin-burner gas hob, spacious storage, fresh water tanks and more. We’re proud to hold one of the largest collections of campervans in the UK, with models ranging from the classic VW T2’s to the modern T6’s. Turn heads in our timeless models or enjoy the updated features of a more modern make. We also have lovingly converted vans and a wealth of friendly owners who enjoy travelling as much as you. Don’t forget to ask about optional extras like awnings, chairs, cutlery, crockery and more. Find campervans starting at £50 a night and head out on a wonderful escape through West Wales.
Best Campervan Road Trip Milford Haven
If you’re new to hiring a campervan or haven’t yet travelled to this part of West Wales, campervan hire Pembrokeshire might seem like a complex task. No worries. We’ve highlighted top spots to look for private campervan owners, and added a few towns near each location that may offer more campervan hire options. Use the individual country pages to select a county to hire a campervan from, or manually add in a town to search. Plus, if you find yourself on a road trip near Milford Haven, you'll discover some stunning campsites in Pembrokeshire where you can truly enjoy the incredible natural beauty of the area.
The system will provide an extensive list of campervan hire options. Click on the campervan that piques your interest and have a read through the amenities, features, models and possible extras provided. Add in your dates plus questions, and whizz over a message to the campervan owner. All communication between van owner and renter takes place directly, making it easy to find your perfect campervan in Milford Haven.
The charming Victorian town of Pembroke Dock rests along the breathtaking coastline of southwest Wales, serving as an ideal starting point for exploring its rich maritime heritage and natural wonders of the town and Milford Haven. Visitors can begin their campervan hire in Pembroke Dock by visiting the Pembroke Dock Heritage Centre for an insight into the town's naval history. Nature lovers can will find solace in the tranquil beauty of Cleddau Estuary, which is a top spot for kayaking and scenic walks along its shores. For a taste of local culture, Pembroke Castle stands proudly nearby, offering a glimpse into centuries of Welsh history amid its impressive medieval architecture. We have 5 campervans and motorhomes within 20 miles of Pembroke Dock, plus more camper rentals in Lawrenny, camper rentals in St Twynnells and camper rentals in Merrion.
Age: 25-70
Travel: UK Only
Gearbox: Manual
Meet Debbie-your stylish and reliable T6 Transporter campervan. She sports a sleek charcoal grey and vibrant orange color scheme that turns heads wherever it goes. With its low mileage Debbie is ready to embark on countless adventures with you.
The city of Hasguard Cross is a great place to kick start an adventure in Milford Haven and enjoys a fine location at the centre of the Pembrokeshire Coast. Enjoy an idyllic start to your holiday by exploring the rolling green hills and peaceful countryside around. Fall in love with natural beauty and cultural attraction, and indulge in an array of open-air activities. The kids will love a visit to Oakwood Theme Park, while the thalassophiles connect with nature at the Spectacular Pembrokeshire Coast National Park, famed for its jagged cliffs, sandy beaches, and abundant wildlife. The landscape is a dream for hiking, birdwatching, or simply enjoying scenic drives along the coastal roads. St. Brides Bay, a short drive away, is fab for lounging on pristine beaches and enjoying afternoons of water sports, like surfing and sailing. Hire a campervan in Hasguard Cross and embrace the freedom to explore at your own pace. We have 4 campervans and motorhomes within 120 miles of Hasguard Cross, plus more options in Broad Haven campervans, Marloes campervans, Druidston campervans, and Newgale campervans.
St Brides Bay. Outdoor__Sam
The picturesque town of Little Haven charms travellers with a stunning location along the stunning Pembrokeshire coastline, and a quaint charm that puts the most harried adventurer at ease. Soak in picturesque views at every turn, and make this a base for exploring both the natural beauty and historical landmarks of the area. Hire a campervan in Little Haven and start your road trip by exploring the village itself, with its picturesque harbour, traditional pubs, and quaint shops showcasing local crafts. Nature enthusiasts can venture to the nearby Marloes Sands, renowned for its golden sands and dramatic cliffs, and head out on coastal walks or wildlife spotting. History buffs will appreciate a visit to St. Brides Castle, a historic site dating back to the 12th century, that provides insights into the region's medieval past plus panoramic views of St. Brides Bay. We have 4 campervans and motorhomes within 120 miles of Little Haven and plenty more campervans for hire in Nolton Haven, campervans for hire in Pelcomb Cross and campervans for hire in Roch. Bonus tip: when you're exploring Milford Haven by road, you can also try out some seriously good campervan hire in Brecon.
Is Milford Haven The Deepest Port In The World
Milford Haven, once a thriving whaling settlement in the 18th century, has now grown as a popular visitor centre, with holidaymakers finding a pleasantly surprising array of shops, pubs, restaurants, and visitor attractions. Nestled along the Pembrokeshire coastline, the town sits on one of the deepest natural harbours in the world, Boat watchers can admire a range of big ships navigating the local waters, while pleasure boaters and yachters enjoy sharing a sheltered marina with like-minded boaters.
Walking Routes From Milford Haven
Marloes Sands, Pembrokeshire. Mytsteed
If you’d rather sit than walk, take a boat tour from Martin’s Haven and explore stretches of the coastline. Visitors can select from an array of varying speeds, routes and trip types, including the popular stretch from Skomer Island and Grassholm route that takes in some of Pembrokeshire’s exciting bird and marine life, including puffins, guillemots, shearwaters, seals and porpoises. End the day at the Torch Theatre, which hosts regular productions, touring shows, comedy screenings, films, and live music.
Beach bums can kick back on the golden sands of Marloes Sands, a gorgeous stretch of coastline with crystal clear azure waters, intriguing rock features, and a lovely coastal path that winds into St Brides Bay. Marloes Mere, a hidden National Trust protected wetland, on the Marloes Peninsula that is perfect for exploring rare birds, animals and plants. Walkers can hop on a circular route from Marloes around the lovely Dale peninsular, briefly stopping to soak the views at the beaches of St Ann's Head, Westdale and Watwick. There are plenty of lovely pubs to stop for a pint on the way, and an array of fresh seafood dishes served mere metres from the ocean. While you're in Milford Haven, you can enjoy staying at some absolutely beautiful campsites in Brecon – they're perfect for adding a bit of mountain scenery to your coastal adventure.
Cwtch Camping site, a friendly, peaceful site nestled in one of Pembrokeshire's most unnoticed coastal gems - Daugleddau Estuary. The estuary is often called the 'The Secret Waterway', and brims with wind-swept cliffs sprinkled with abandoned mines, majestic Norman castles and secluded coves.
We also recommend exploring Broad Haven and Little Haven, two lovely bays that connect during low tide, forming a mile long expanse of golden sands. Nibble on fresh crab sandwiches or grab a drink at a seaside pub and listen to the gentle sounds of the waves whilst enjoying the sunshine in a cosy beer garden. More information can be found on the Milford Waterfront website
Milford Haven Camping
Milford haven. Pembroke. Lorennbloomer
Use the icons at the top of the page and let Camperbug pick filter sites to provide the best matches for your accommodation preference. If you’d rather browse campsites by location on the map, scroll to the end of the page, and you’ll find an extensive list of all camping locations nearby. Move the cursor over the map to change destinations, or feel free to use our Find a Campervan search engine to browse campsites by name, county, town or postcode. Visit our main page or more campsites in the UK.
The vibrant town of Pembroke is abuzz with activity and visitors , and is one of the most compelling places to visit in Wales. Set against the backdrop of Pembroke Castle, the town is famed for its historical and natural charm, offering campers access to rich history and picturesque surroundings. The town itself provides convenient access to local amenities and several excellent attractions like the beaches of Freshwater West and Barafundle Bay. Enjoy coastal walks, water sports, and stunning sunsets. Whether pitching a tent or parking a caravan, camping in Pembroke promises an unforgettable outdoor experience for all ages. We have 9 campsites within 30 miles of Pembroke and more campsites in Pembroke Dock, campsites Martletwy
Guests are in an excellent position to access the beaches and amenities in Tenby, Pembroke, and Carew set an ideal ten minutes away. Spend glorious days pottering around bustling seaside towns, bask in the sun on golden sands or explore three tip-top castles, all within a short drive from the site.
The small yet welcoming village of St Twynnells sits near the stunning coastline of Freshwater West providing quick access to attractions like Pembroke Castle. Pitch tents or park your campervans amidst picturesque countryside, enjoying the serenity, sounds of nature, and fresh air. Stretch your legs on scenic coastal walks, explore historic sites, and indulge in local cuisine at charming village pubs. Most campsites in St Twynnells offer basic amenities like toilets and showers, promising a relaxed and enjoyable experience for reconnecting with nature and kicking back in a beautiful setting. We list 216 campsites within 40 miles of St Twynnells, and also display more campsites in the nearby towns. To views the towns nearby and their camping locations, scroll to the end of the page, and you’ll find a list of campsites in Stackpole, campsites in Manorbier.
Spend your entire stay kicking back at the stunning beaches on Pembrokeshire, and enjoy a wealth of golden sand beaches that cater to a range of ages and abilities. Kick-start your stay at the local Manorbier beach, located a twenty-five-minute stroll away, or mosey over to the delightful cove of Skrinkle Haven set half an hour away.
Pitch a tent or settle up for a camping stay at Merrion, a lovely settlement near the bustling town of Milford Haven. Nestled in a peaceful rural setting, Merrion campsites provide a perfect blend of relaxation with quick access to a stunning coastline dotted with jagged cliffs. Find yourself a spacious pitch, surrounded by lush greenery and spend an idyllic holiday admiring the local landscape and its thriving fauna. The coastline beckons with sandy beaches and scenic walking trails ensuring plenty to keep you and your travel companions occupied for days. amenities such as showers, electric hook-ups, and a friendly atmosphere provide a welcome respite from the holiday crowds. Huddle around a campfire and unwind under the stars at nightfall, and fall in love with the charm of Pembrokeshire. You can browse through 212 campsites within 40 miles of Merrion, plus more options in Cresselly campsites, Hasguard Cross campsites.
Best Campsites at Milford Haven
Your itinerary for an adventure in Milford Haven is all sorted and now it’s time to find a place to rest your head for the night. Find the best campsites in Milford Haven, which has such a large selection of beautiful campsites by the coas, deep in the countryside, and pretty much everywhere else. We’ve picked our top three locations for camping, and we feel these campsites combine scenery, excellent hospitality and glorious views for a restful escape. We recommend staying at Creampots Touring Caravan and Camping Park, Windmill Hill Farm and…..
Foxdale Campsite in Marloes
Foxdale Campsite, Marloes
Foxdale Campsite is a small, tranquil camping space just outside the village of Marloes, a short drive from the beach. Set an ideal 25 minute drive from Haverfordwest, the small, peaceful site is great for exploring a range of local hikes, and affords easy access to the Pembrokeshire Coastal Path. Take the kids out for exciting wildlife watching boat trips, or spend the day keeping a lazy eye over the tiddlers as they build sandcastles and frolic on the clean shores of Marloes Sands, a trifling mile and a half away. The dare devils can enjoy windsurfing while the active sorts try their hand at surfing and horse lovers take a canter through the countryside. There is a pub a short stroll from the campsite gates, and the owners extend a warm welcome to tents, motorhomes and caravan owners on optional electric plots and grass and hardstanding plots.
Creampots Touring Caravan and Camping Park in Broad Haven
Creampots Touring Caravan and Camping Park, Broad Haven
Creampots Touring Caravan and Camping Park blends a tantalising recipe of golden beaches, gorgeous landscapes and scenic walking routes with a convenient location close to Pembrokeshire Coast National Park and Haverfordwest. There’s a great many outdoor attractions for explorers of all ages, including rambling, swimming, family-friendly days out, and, for the land lubbers, hours of sunbathing. There are historic sites to keep history buffs entertained, while parents tire out the nippers at Manor Wildlife Park or Folly Farm Adventure Park and Zoo. Take your pick of grass on gravel pitches and enjoy the family-friendly atmosphere. Creampots is well-regarded for its cleanliness and well-maintained grounds, making it a favoured choice for visitors exploring this beautiful part of Wales.
Windmill Hill Farm in Pembroke
Windmill Hill Farm, Pembroke
Windmill Hill Farm is a beautifully-maintained camping space on the grounds of a working farm, enjoying a central yet peaceful location close to many beautiful beaches. Walker, surfers, and hikers can kick on spacious, grassed pitches, and soak in the sunshine under clear blue skies. Visitors are also welcome to use the site as an overnight stop while exploring Ireland via the Irish Ferry departing Pembroke Dock, just 2 miles away. Standard amenities include a shower and washing areas, and a small launderette. The owners extend a warm welcome to canine companions, and have a designated dog exercise area nearby. The kids can explore the varied attractions at Folly Farm and Oakwood theme park nearby, while the walkers soak in the scenery on the Pembrokeshire Coastal Path.
Tent Camping at Milford Haven
Ramsey Island. Ashley_Beaumont
Prefer pitching a tent for the night?If you are looking for tent camping in Milford Haven, Little Welsh Wood Camping is a beautiful and peaceful space for tent camping in Milford Haven, offering campers access to even, woodland pitches sprinkled around beech trees and spacious meadows. The site also has a selection of swish 5 metre bell tents for anyone interested in upgrading their stay. Sandy Haven Camping Park is another fab site for tent campers, resting on the coastal footpath within the Cleddau estuary, while providing quick access to the Pembrokeshire National Park.
Campsites at Milford Haven for Motorhomes
Motorhome owners, we see you. You’ll need a spacious pitch and the expected amenities to keep your holiday comfortable and we have a few sites that may do the trick. Motorhome camping sites in Milford Haven include Dunston Hill Caravan and Camping Park is bound to keep you happy and relaxed, with a grassy three acre camping area, spotless amenities, and easy access to Pembrokeshire’s many beaches. Nolton Cross Caravan Park is a top spot with stunning views overlooking St Brides Bay, offering campers a lovely camping space on a working farm with a handy on-site shop. Broadway Campsite is great for escapes to the Pembrokeshire coast, and is well-located for exploring wildlife on boat trips to Ramsey island. The Pembrokeshire coastal path and Broad Haven Beach are less than a mile away too, making this convenient spot for motorhome camping in Pembrokeshire.
Milford Haven Camping Caravans
Milford haven. Pembroke. Tommyb1967
Caravanners have plenty of lovely spaces to set up camp and leave their belongings securely while exploring the landscape by car. Milford Haven Camping Caravan campsites include Weston Lane Farm Caravan and Campsite is another caravan friendly spot in Narberth, which is perfect for members of the Caravan and Camping Club. Set in lush and quiet settings, the campgrounds hold a mix of untamed and manicured, creating a lovely atmosphere for relaxation. Milton Bridge Caravan Park has full-serviced pitches with access to a range of excellent amenities, and the added thrills of having the Milton Brewery right at your doorstep.
Milford Haven Camping Cabins
Holidaymakers who enjoy glamping over camping have a range of accommodation options in Milford Haven Camping Cabins. Dews Lake Farm offers a range of spacious tent and campervan pitches on grass plus a sumptuous range of bell tents and shepherd’s huts in Pembrokeshire. Dragonfly Camping has some of the best cabin camping in Kilgetty, offering a gorgeous Woodpecker Cabin with sleeping space for two, and a range of home comforts, including a large south facing deck for admiring the views around your private woodland glade.
Pods from £50
Enjoy a range of Pembrokeshire pursuits as you enjoy a convenient position, a short drive from the Pembrokeshire Coast National Park, and easy access to the lovely beach in the picturesque village of Saundersfoot set an ideal two and a half miles away. Families can treat the nippers to delightful days of roller coaster thrills and amusements at three themed parks nearby.
Hwyl Fawr To Milford Haven
Milford Haven Pembroke. Sailorsalaria
Alas, we must now depart for the next leg of our journey, but we hope you’ve had a wonderful holiday in Milford Haven. Next on the horizon is the gorgeous cathedral city of St Davids, the smallest city in Britain and hotspot for pilgrimages for many a century. Check out all the spots we gave planned on this campervan road trip in West Wales
We’ll take an indepth look into the activities in St Davids next, and peek at a selection of spectacular campsites that are as scenic as they come. We’ll also recommend places to hire a campervan and set up camp near St Davids, so stay tuned for our ever growing guide.
Recent Blog Role
Back to blog listSome of the recent articles on Camperbug
An Itinerary for an Unforgettable Roadtrip through Devon in a Campervan
Discover an unforgettable Devon roadtrip itinerary in a campervan. Explore scenic campsites and top attractions in this stunning county. Adventure awaits!
Go Deeper (8 min read) →Uncovering the Beauty of The Black Isle in a Campervan with the Best Campsites and Routes
Explore the stunning Black Isle in a campervan! Discover the best campsites and scenic routes in the Scottish Highlands. Your ultimate guide to a perfect adventure
Go Deeper (17 min read) →Campervan Adventures in Llangollen, the Best Campsites and Scenic Spots
Discover the best campervan adventures and campsites in Llangollen, Denbighshire. Explore scenic spots and enjoy a perfect camping experience in the heart of Wales.
Go Deeper (17 min read) →