4.6
(448)
3,526
hikers
8
hikes
Family friendly hiking trails around Milford Haven offer a diverse landscape blending coastal beauty with natural features. The region is characterized by the Milford Haven Waterway, a large natural harbor, and access to sections of the Pembrokeshire Coast Path. Hikers can explore rugged red sandstone cliffs, secluded bays, ancient woodlands, and estuaries. These varied terrains provide a range of experiences for families seeking outdoor activities.
Last updated: April 24, 2026
3.8
(5)
20
hikers
13.4km
03:36
160m
160m
Moderate hike. Good fitness required. Easily-accessible paths. Suitable for all skill levels.
7
hikers
3.92km
01:03
50m
50m
Easy hike. Great for any fitness level. Easily-accessible paths. Suitable for all skill levels.

Sign up for free
3.0
(1)
9
hikers
10.7km
02:55
150m
150m
Moderate hike. Good fitness required. Easily-accessible paths. Suitable for all skill levels.
5
hikers
6.69km
01:52
130m
130m
Easy hike. Great for any fitness level. Easily-accessible paths. Suitable for all skill levels.
4
hikers
9.59km
02:32
90m
90m
Moderate hike. Good fitness required. Easily-accessible paths. Suitable for all skill levels.
Get access to more routes and recommendations from other explorers.
Sign up for free
Already have an account?
Our route recommendations are based on thousands of hikes, rides, and runs completed by other people on komoot.
Start today with a free account
Your next adventure awaits.
Login or Signup
Stack Rock Fort is a fort built on a small island in the Milford Haven Waterway. A 3-gun fort was built between 1850 and 1852, and then upgraded from 1859 to 1871 with a new building that completely encased the original gun tower. It is now a Grade II* listed building and a scheduled monument. During WW I the fort was used to monitor and protect the harbor with its big guns. During WW II the old fort was briefly used by the RAF as a military communications relay station. Since 2021 it has been owned by a community interest company.
0
0
Tidal coast path crossing of river, usable 2 1/2 hrs either side of low tide. Photo from July taken about 1 hr before low tide
0
0
This delightful church has a rather unusual tower, which has a tiled roof. St Mary's is a medieval church with a short, 15th Century West tower, set in the 'Doubly Thankful' village of Herbrandston. It was carefully restored in 1904 by C Forde Whitcombe, with a reredos of 1927 in carved unpainted oak by Arts & Crafts architect John Coates Carter. Herbrandston is celebrated as one of the few villages where all service men and women returned safely from both wars, and from all conflicts since. In thanksgiving the stunning deeply carved reredos was given to the church by the people of Herbrandston. The church also contains a 14th century effigy of an unknown knight and two medieval corbel heads, one with a mitre and other with a coronet placed one each side of the nave walls.
0
0
This is a much easier way to access the beach than to clamber down the rocks near the car park
0
0
Sandy Haven is a fantastic beach to explore. A huge expanse of around 800m of sand at low tide - yet despite its name is pretty rocky. Loads of rock pools to explore and boulders to climb. Sandy Haven village is along the Sandy Haven Pill, flanked by smoother sand (and mud) and with a boardwalk on which you can cross to the other shore at low tide.
1
0
Especially the names of the ships are great.
0
0
Gelliswick Bay is a sheltered sand and shingle beach close to Milford Haven. The beach is surrounded by cliffs and to the east you can see Fort Hubberston which was built in 1863. If you like watching industry, you can also see across to the jetties that serve some of the worlds largest tankers.
0
0
There are 8 family-friendly hiking trails around Milford Haven featured in this guide. These routes are designed to be enjoyable for all ages, with a mix of easy and moderate options.
Yes, for a shorter, easier walk, consider the Hubberston Pill loop from Milford Haven. This 3.9 km trail takes you through local woodland and is generally suitable for families looking for a gentle stroll. While not all trails are pram-friendly due to varied terrain, this one offers a good option for a less strenuous outing.
The family-friendly hikes around Milford Haven offer a wonderful blend of coastal scenery and tranquil woodlands. You'll encounter stunning views of the Milford Haven Waterway, picturesque bays like Gelliswick Bay and Sandy Haven Beach, and sections of ancient woodland. Keep an eye out for the striking red sandstone cliffs and diverse wildflowers along the coastal paths.
Many of the trails are circular, making them convenient for families. For example, the Gelliswick Bay – Sandy Haven Beach loop is a moderate 13.5 km circular route offering beautiful coastal views. Another great option is the Gelliswick Bay loop, an easier 6.7 km circular trail.
Absolutely! The Milford Haven Waterway and its surrounding areas are rich in wildlife. Along the coastal paths, you might spot various seabirds, and the mud flats of The Gann are particularly good for birdwatching. The ancient woodlands also provide habitats for local flora and fauna, offering opportunities for nature observation.
Milford Haven is steeped in history. You can explore fascinating historical structures such as Fort Hubberstone, 19th-century cliff-top forts, and remnants of World War II bunkers. From certain vantage points, you might even catch a glimpse of Stack Rock Fort, an 'Alcatraz-style' fort on an offshore island. The View of Stack Rock Fort – Gelliswick Bay loop offers excellent views of this unique landmark.
Parking is generally available at various starting points for these trails, especially near popular bays and the Milford Waterfront area. Specific parking details can often be found on individual route descriptions or local signage. It's always a good idea to check local information for the most up-to-date parking options.
The area is highly rated by the komoot community, with an average score of 4.6 stars. Reviewers often praise the diverse scenery, from stunning coastal vistas to peaceful woodland paths, and the well-maintained trails that make for enjoyable family outings. The opportunity to combine nature with historical exploration is also frequently highlighted.
Yes, the Milford Waterfront area, a common starting or ending point for many walks, offers a selection of cafes and pubs where families can refuel. Along the Pembrokeshire Coast Path, you may also find establishments in nearby villages. It's advisable to check opening times, especially outside of peak season.
Spring and summer are particularly pleasant for family hikes in Milford Haven, with milder weather and longer daylight hours. The coastal paths are vibrant with wildflowers in spring, and summer offers ideal conditions for enjoying the beaches. Autumn can also be beautiful with changing foliage, though weather can be more unpredictable. Always check the local forecast before heading out.
Many of the trails around Milford Haven are dog-friendly, allowing you to bring your furry companions along for the adventure. However, it's important to keep dogs under control, especially in areas with livestock or wildlife, and to adhere to any local signage regarding lead requirements. Always remember to clean up after your dog.


Browse the best Hikes in other regions.