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Pembroke Castle is the birthplace of the first Tudor king and has enough graceful majesty to more than match its place in history. The 11th century fort is packed full of surprises and won't fail to amaze first-time visitors to this gorgeous corner of Wales.

The oldest part of the castle was built in 1093 on a rocky outcrop surrounded by the Cleddau River. It served as the seat of major medieval barons and, in the 12th Century, acquired its most stunning feature - the 75-feet high Great Keep with its distinctive domed roof.

A limestone cave known as Wogan Cavern was linked to the castle in the 13th Century via a spiral staircase and can still be explored and marvelled at by visitors today. But you'll also want to climb Pembroke Castle's tower and admire views of Milford Haven, a site of special scientific interest.

Henry VII was born at Pembroke Castle in 1457, in a tower that now bears his name. He was the last English monarch to win his crown on the battlefield, at the Battle of Bosworth: an act that heralded the Tudor age.

All this history, as well as many other architectural wonders, can be discovered by visitors to Pembroke Castle today. Guided tours are offered daily and there is a full calendar of events, ranging from falconry to dragon days.

The castle, located half a mile from Pembroke Railway Station, also boasts a brass rubbing centre and an outdoor map of Wales that is the largest painting in the UK.