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Milford Haven is a fantastic place to explore on foot, by bike and by water. With everything from panoramic views of the historic Milford Haven Waterway from The Rath, to scenic strolls around Milford Waterfront to look at the boats in Milford Marina, heritage walking trails, and access to woodland walks, beaches, the Pembrokeshire Coast Path and cycle friendly routes, it really has it all.

Find out how you can explore all that Milford Haven and the surrounding area has to offer, whether you’re getting your walking boots on, taking the dog out for their daily exercise, taking the kids on an adventure, or just blowing the cobwebs away with the fresh sea air in your hair, you can explore the Milford Haven area in your own way, in your own time.

We’ve pulled together a list of places and routes to explore in Milford Haven for all abilities. If you’re out for a walk, don’t forget to use the hashtag #visitmilfordhaven if you’re sharing photos of your adventures on social media so that everyone can see.


* The areas marked in blue are owned and managed by Milford Waterfront. These areas can accommodate in excess of 300 cars between them. Some may be closed off from time to time for events, but other than that they are free for anyone to use.

** The areas in red are owned and managed by the management companies of the seven residential blocks around Milford Waterfront. The spaces behind and between these blocks are reserved for residents only. A private parking enforcement company will be issuing fines to vehicles not showing residents’ parking permits in the spaces marked in red, so please don’t risk a fine – park in the blue areas on your visit.

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Tourist Information Tourist Information
Toilets Toilets
Toilets (summer only) Toilets (summer only)
Bus Stop Bus Stop
Tesco Petrol Station Tesco Petrol Station
Railway Station Railway Station
Picnic Area Picnic Area
Free Visitor Parking Free Visitor Parking *
Restricted Parking Restricted Parking **

Leave only footprints... There are rubbish bins on all of these routes, some at the start/end points and some along the way. We kindly ask that you use the bins provided should you accumulate any rubbish whilst enjoying these walks and picnic areas. If you'd like to help keep our local areas tidy then feel free to bring a bag and litter picker with you on a stroll and leave the litter in one of the bins provided. Litter bags can be acquired from Keep Wales Tidy at their Milford Waterfront base should you need one. Thank you.

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