Milford Waterfront

The main car park on Mackerel Quay

The small car park on the hill behind The Harbourmaster

All car parking spaces underneath Victoria Bridge

The car park on Nelson Quay between Martha’s Vineyard and Spinnaker Café (you can park for free here for up to 3 hours, between 08:00 and 22:00)

The spaces behind and in between the shops, cafes and restaurants on Nelson Quay are reserved for residents only, so if you are visiting or shopping please use our free car parking areas listed above on your visit. Please note that overnight camping in caravans or motorhomes is not permitted.

We ask that dogs are kept on leads at all times and that owners take full responsibility for their canine companions and for cleaning up their mess.

Many of the shops and eateries provide water bowls to quench doggy thirsts and most have outdoor seating so that both dog and owner can relax a while and watch the world go by.

With Milford Marina front and centre, Milford Waterfront is a great destination; lined with cafes and restaurants ready to serve you a true taste of Pembrokeshire; shops and galleries selling local works of art and crafts, and the latest fashions; a healthy selection of beauty and wellbeing businesses to look after your mind, body and soul; and delicious handmade chocolates and locally landed fish which you can buy to take home and enjoy (or sample in one of the restaurants!).

There's a range of things to do including bowling, a trip to Milford Haven Museum to learn about our fascinating heritage and various walks around Milford Haven for all abilities including our heritage walking trails.

If you're looking to stay by the sea, we've got a great selection of places to stay with marina and waterway views. Choose from luxury apartments, floating hotel rooms, or enjoy hotel accommodation at the 4 star Tŷ Hotel Milford Waterfront.