Pembroke Castle

Henry VII was born within these formidable stone walls in 1457, and that royal connection still gives me goosebumps when I walk through the Great Gatehouse. This isn't just another ruined castle - Pembroke stands virtually complete, its massive round keep soaring 75 feet above the town and offering cracking views across Milford Haven.

The castle proper is a beast to explore. Kids love scrambling through the underground passages beneath the keep, though the spiral staircase to the top will test anyone's legs. History enthusiasts get their money's worth here - this fortress withstood a two-month siege during the Civil War before finally surrendering in 1648.

What sets Pembroke apart from other Welsh castles is its sheer completeness. Most of the towers still have their roofs, and you can walk almost the entire circuit of walls. The Great Hall remains impressive despite missing its roof, and the chapel tucked into the inner ward feels properly medieval.

Families staying at nearby sites like Windmill Hill Caravan Park or Freshwater East will find this makes a solid half-day out, especially when combined with a wander through Pembroke town. Allow at least two hours if you're doing it justice. The castle dominates the skyline for miles around - you can't miss it when driving through this corner of Pembrokeshire.