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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 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 **
Floatel Cabins

Enjoy a luxurious glamping experience in your very own floating hotel room, moored among the boats at Milford Marina.

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The Cheesy Cow

The Cheesy Cow serve up their popular graze boxes, a wide range of tasty rustic baked baguettes, breakfast items, sweet treats, ice creams & hot drinks.

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