Pembrokeshire is one of the best places in Wales to explore on foot with your dog. From dramatic cliff top paths and sandy coves to woodland valleys and estuary walks, the county offers a huge variety of routes where dogs can enjoy the journey just as much as you do.
This guide rounds up some of the best dog friendly walks in Pembrokeshire, with a mix of lengths and difficulties to suit everything from short scenic strolls to longer coastal hikes. As always, we focus on routes that are practical for dog owners, clearly signed, and rewarding without unnecessary stress.
1. St Davids Head Circular Walk
St David’s Head – Photo Credit: Alan Hughes
Distance: 4 miles
Difficulty: Moderate
Terrain: Coastal paths, clifftops, grassy tracks
Dog friendly notes: Good off lead potential away from livestock
This circular walk around St Davids Head is one of the most iconic coastal routes in Pembrokeshire. Starting near Whitesands Bay, the path follows the coastline past rocky headlands and natural coves, with sweeping views towards Ramsey Island and out across the Irish Sea. The scenery is consistently impressive, with a real sense of space and exposure that makes the walk feel special without being overly technical.
Dogs will enjoy the open grassy sections and coastal air, particularly outside the busiest summer months. There is good off lead potential along much of the route, although care is needed near cliff edges and when passing through inland sections where livestock may be present. The terrain is uneven in places, so it suits confident walkers and dogs used to longer coastal outings.
2. Bosherston Lily Ponds to Broad Haven South
Distance: 3.5 miles
Difficulty: Easy to moderate
Terrain: Woodland paths, lakeside trails, sandy beach
Dog friendly notes: Dogs should be on lead around the ponds
This popular walk links the peaceful Bosherston Lily Ponds with the wide sandy beach at Broad Haven South. The route follows flat, well maintained paths around the ponds, crossing stone bridges and shaded woodland sections before opening out towards the coast. It is one of the most accessible walks in the area and works well for a relaxed half day out.
Dogs must be kept on lead around the ponds to protect wildlife, but once you reach the beach there is space to unwind and enjoy the sea air, subject to seasonal dog restrictions. The combination of calm inland walking and an open coastal finish makes this a great option for dogs that enjoy variety without tackling anything too demanding.
3. Marloes Peninsula Coastal Walk
Distance: 6 miles
Difficulty: Moderate
Terrain: Coastal paths, uneven ground, grassy cliffs
Dog friendly notes: Excellent off lead potential with care
The Marloes Peninsula offers one of the wildest and most dramatic coastal walks in Pembrokeshire. This longer route follows rugged cliff tops with far reaching views over rocky bays, offshore islands and seabird colonies. Once you move away from the main access points, the landscape feels remote and untamed, giving the walk a real sense of adventure.
Energetic dogs will love the open space and varied terrain, with long stretches where off lead walking is possible if recall is reliable. The paths can be rough and exposed in places, so this walk is best suited to confident dogs and owners comfortable with longer, more demanding coastal hikes.
4. Porthgain to Abereiddy Coastal Walk
Distance: 3 miles
Difficulty: Moderate
Terrain: Coastal paths, rocky sections
Dog friendly notes: Keep dogs on lead near cliff edges
This coastal walk between Porthgain and Abereiddy delivers big scenery over a relatively short distance. Starting in the historic harbour village of Porthgain, the path follows the cliffs past old quarry workings and striking coastal formations before reaching Abereiddy and its famous Blue Lagoon. The views are varied and engaging throughout.
Dogs will enjoy the mix of terrain and sea air, although leads are advisable near cliff edges and narrower sections of path. Both Porthgain and Abereiddy have dog friendly places nearby, making this an ideal walk to combine with food, a swim or a relaxed afternoon exploring the local area.
5. Newport to Pwllgwaelod Circular Walk
Distance: 4.5 miles
Difficulty: Moderate
Terrain: Coastal paths, woodland, quiet lanes
Dog friendly notes: Mixed off lead and on lead sections
This circular walk near Newport offers a balanced mix of coastal scenery, estuary views and sheltered woodland paths. Starting from Newport Parrog, the route follows the coast towards Pwllgwaelod before looping back inland on quieter paths and lanes, creating a varied and rewarding route.
Dogs benefit from the changing environments, with open coastal stretches followed by calmer woodland sections. Some parts of the route pass through farmland, so dogs may need to be kept on lead at times. Overall, it is a well rounded walk that suits most dogs and owners looking for a moderate distance without excessive exposure.
6. Colby Woodland Garden Walk
Distance: 2 miles
Difficulty: Easy
Terrain: Woodland paths, gardens, riverside trails
Dog friendly notes: Dogs welcome on lead
Colby Woodland Garden offers a gentler alternative to Pembrokeshire’s exposed coastal routes. The network of paths follows the River Colby through woodland, meadows and landscaped gardens, creating a calm and scenic environment that feels sheltered and peaceful throughout.
Dogs are welcome but must remain on lead, making this a good choice for dogs that prefer quieter surroundings or need more controlled walking conditions. The paths are well maintained and relatively flat, making this an ideal option for older dogs, puppies or relaxed walks at any time of year.
7. Stackpole Estate Circular Walk
Distance: 5 miles
Difficulty: Moderate
Terrain: Woodland, lakeside paths, coastal sections
Dog friendly notes: Leads required near wildlife and livestock
The Stackpole Estate offers one of the most varied walks in Pembrokeshire, combining woodland, lakes, coastline and historic estate land into a single circular route. Starting near Stackpole Quay, the walk passes Bosherston Lakes before heading towards the coast, offering a constantly changing landscape.
Dogs will enjoy the variety, but leads are required in several areas due to wildlife and grazing animals. The route is well signposted and popular with dog walkers, making it a reliable option if you want a longer walk that still feels manageable and well supported.
8. Ceibwr Bay and the Witches Cauldron
Distance: 2.5 miles
Difficulty: Moderate
Terrain: Cliff paths, grassy tracks
Dog friendly notes: Best for confident dogs due to cliff exposure
This short but striking walk near Moylegrove follows the coast around Ceibwr Bay, passing the dramatic rock formation known as the Witches Cauldron. The elevated paths provide impressive views across the sea and surrounding headlands, making the walk feel bigger than its distance suggests.
The paths are narrow and exposed in places, so this route is best suited to confident dogs with good recall and owners comfortable with cliff side walking. While shorter, it delivers a strong sense of adventure and is ideal if you want a visually impressive walk without a long time commitment.
9. Pembroke Mill Pond Walk
Distance: 2 miles
Difficulty: Easy
Terrain: Flat paths, waterside trails
Dog friendly notes: Mostly flat and accessible
The Mill Pond walk in Pembroke circles a tidal inlet beneath the walls of Pembroke Castle, offering a calm and scenic route at a slower pace. The waterside paths provide peaceful views and a relaxed atmosphere, making this a very different experience from the exposed coastal hikes elsewhere in the county.
This walk is ideal for dogs that prefer gentler terrain, as well as for recovery days or shorter outings. Its flat paths and accessibility make it suitable year round, and it pairs well with exploring Pembroke itself and its dog friendly cafes and shops.
Map of Dog Friendly Walks in Pembrokeshire
Use the map below to explore these dog friendly walks through Pembrokeshire. Simply click the pins and get more information on each of the walks and directions to the nearest car park.
The Mill Pond walk in Pembroke circles a tidal inlet beneath the walls of Pembroke Castle, offering a calm and scenic waterside route. The flat paths and historic setting make this a pleasant change from the more rugged coastal walks elsewhere in the county.
This walk is ideal for dogs that prefer gentler terrain and a slower pace. Its accessibility and shorter distance make it suitable year round, and it pairs well with exploring Pembroke town and nearby dog friendly stops.
Distance (Miles): 2
Distance (KM): 3.2
Difficulty: Easy
Off Lead Potential: None
Parking Availability: Yes
This short but striking coastal walk delivers some of the most dramatic cliff scenery in north Pembrokeshire. The route heads out from Moylgrove towards the coast path, with big sea views and a wild, remote feel once you reach the cliffs.
The paths are narrow and exposed in places, making this best suited to confident dogs with good recall. While the distance is modest, the terrain can feel more demanding due to undulation and exposure, so it is best treated as a proper coastal hike.
Distance (Miles): 2.5
Distance (KM): 4.0
Difficulty: Moderate
Off Lead Potential: Some
Parking Availability: Yes
The Stackpole Estate circular walk combines woodland, lakes, coastline and historic estate land into a varied and rewarding route. Starting near Stackpole Quay, the walk passes Bosherston Lakes before heading towards the coast, offering a constantly changing landscape.
Dogs will enjoy the variety of terrain, but leads are required in several areas due to wildlife and grazing animals. The route is well signposted and popular with dog walkers, making it a reliable option for those looking for a longer but manageable walk.
Distance (Miles): 5
Distance (KM): 8.0
Difficulty: Moderate
Off Lead Potential: Some
Parking Availability: Yes
Colby Woodland Garden offers a gentler alternative to Pembrokeshire’s exposed coastal routes. The paths follow the River Colby through woodland, meadows and landscaped gardens, creating a sheltered and peaceful walking environment throughout the year.
Dogs are welcome but must remain on lead, making this a good option for dogs that prefer quieter surroundings or need controlled walking conditions. The flat, well maintained paths make this an ideal choice for older dogs, puppies or relaxed strolls.
Distance (Miles): 2
Distance (KM): 3.2
Difficulty: Easy
Off Lead Potential: None
Parking Availability: Yes
This circular walk near Newport offers a balanced mix of coastal scenery, estuary views and sheltered woodland paths. Starting from Newport Parrog, the route follows the coast towards Pwllgwaelod before looping back inland on quieter paths and lanes.
Dogs benefit from the changing environments, with open coastal stretches followed by calmer woodland sections. Some parts of the route pass through farmland, so dogs may need to be kept on lead at times. Overall, it is a well rounded walk suited to most dogs and owners.
Distance (Miles): 4.5
Distance (KM): 7.2
Difficulty: Moderate
Off Lead Potential: Some
Parking Availability: Yes
This coastal route between Porthgain and Abereiddy packs dramatic scenery into a relatively short distance. Starting in the historic harbour village of Porthgain, the path follows the cliffs past old quarry workings and striking rock formations before reaching Abereiddy and its famous Blue Lagoon.
Dogs will enjoy the varied terrain and sea air, although leads are advisable near cliff edges and narrower sections of path. Both Porthgain and Abereiddy have dog friendly places nearby, making this an easy walk to combine with food, a swim or a relaxed afternoon exploring the area.
Distance (Miles): 3
Distance (KM): 4.8
Difficulty: Moderate
Off Lead Potential: Some
Parking Availability: Yes
The Marloes Peninsula offers one of the wildest coastal walking experiences in Pembrokeshire, with rugged cliff top paths and far reaching views across bays and offshore islands. Once away from the main access points, the landscape feels remote and untamed, giving the walk a strong sense of adventure.
This route is ideal for energetic dogs, with long stretches of open ground and plenty to explore. Off lead walking is possible in places with good recall, but the terrain is rough and exposed in sections, so it is best suited to confident dogs and owners comfortable with longer coastal hikes.
Distance (Miles): 6
Distance (KM): 9.7
Difficulty: Moderate
Off Lead Potential: Lots
Parking Availability: Yes
This popular walk links the tranquil Bosherston Lily Ponds with the wide sandy beach at Broad Haven South. Flat, well maintained paths wind around the ponds through woodland and over stone bridges before opening out towards the coast, creating a gentle and scenic route that suits a wide range of walkers.
Dogs must be kept on lead around the ponds to protect wildlife, but once you reach the beach there is space to relax and enjoy the open surroundings, subject to seasonal restrictions. The mix of calm inland paths and a coastal finish makes this an ideal walk for dogs that enjoy variety without tackling anything too demanding.
Distance (Miles): 3.5
Distance (KM): 5.6
Difficulty: Easy
Off Lead Potential: Some
Parking Availability: Yes
This circular walk around St Davids Head is one of the most iconic coastal routes in Pembrokeshire, offering dramatic cliff scenery and wide open sea views. Starting near Whitesands Bay, the path follows rugged headlands and natural coves, with constant views towards Ramsey Island and across the Irish Sea. The sense of space and exposure makes it a memorable coastal hike without feeling overly remote.
Dogs will enjoy the open grassy sections and coastal air, particularly outside peak summer months. There is good off lead potential along much of the route, although care is needed near cliff edges and when passing through inland sections where livestock may be present. The terrain is uneven in places, making this best suited to confident walkers and dogs used to coastal paths.
Distance (Miles): 4
Distance (KM): 6.4
Difficulty: Moderate
Off Lead Potential: Some
Parking Availability: Yes
Looking for more dog friendly locations across the UK? The Wildpack Map is our carefully curated list of dog friendly walks, beaches, campsites and much more in every corner of the UK.
Practical Tips for Walking Your Dog in Pembrokeshire
- Many routes pass through grazing land, so leads are often required
- Make sure you pack the essentials for longer walks and days out
- Keep an eye out for ticks, particularly during the Summer months
- Seasonal dog restrictions apply on some beaches, especially in summer
- Coastal paths can be exposed, so bring water and check weather conditions
- Cliff edges are often unfenced, so stay alert at all times
Final Thoughts
Pembrokeshire is a standout destination for dog friendly walking, offering a rare mix of dramatic coastline and calmer inland routes. Whether you are planning a short scenic stroll or a longer coastal adventure, the county provides plenty of options where dogs are genuinely welcome.
Pairing these walks with dog friendly beaches, accommodation and cafes makes it easy to build full days out around your routes. If you enjoy exploring on foot with your dog, Pembrokeshire is a place you will want to return to again and again.
Looking for something else nearby? The Brecon Beacons national park is also packed with dog friendly walks and hikes.