Idyllically set on the banks of the river estuary, this mighty fortress is largely intact, and its endless passages, tunnels and stairways are great fun to explore, plus there are super exhibitions, which tell the tale of its medieval life.

Once the seat of a succession of major barons who played leading roles in shaping Britain's history, this historic showpiece is the birthplace of Henry Tudor, father to the infamous Henry VIII and grandfather of Elizabeth I. Spend a day, and picnic in the beautifully kept grounds or from St. Anne's Bastion, enjoy views along the estuary while partaking of refreshments from the snack bar. Visit the Brass Rubbing Centre and quickly and easily, make an attractive souvenir. Complete your visit with a walk around the medieval town walls and millpond, and from the opposite bank of the river, view the castle in all its splendour, surrounded by this peaceful stretch of water.

If you've had fun on your family day out to Pembroke Castle, tell us about it your visit, so other people will know it's a great place to go as well.

http://www.pembroke-castle.co.uk/