Tenby
Broad Haven
Carew Castle and Tidal Mill
The Green Bridge of Wales
Bosherston Lily Ponds
St Govan’s Chapel
We have a house in Pembroke - these are all good suggestions for south of Pembroke. Don't ignore Pembroke Castle or the high street, some good shops and places to eat.
At the start of Pembrokeshire, Amroth has a huge beach and if you walk up the path behind the toilets you get a great shot from the headland. When the tidesout you can walk from Amroth to Wisemans bridge then take the miners tunnel to walk through to Saundersfoot.
Tenby's worth a visit for the painted houses and good beaches, nice walled twon with shops, but can get very busy in holidays.
Manorbier beach and Castle and Skrinkle Haven/church doors cove is worth a look.
As said - Carew castle has a short loop you can walk around the tidal pond and get some good shots of the castle.
South of Pembroke, I'd say walk through the Bosherston Lily Ponds to Broad Haven south, should you feel like it you can also walk over the headland to Barafundle bay. If you follow the coatline you get some stunning coastal features, or park at Stackpole Quay and walk that way.
Whilst that was St Govens Chapel is a must.
Green bridge, you can only get there through Castle Martin by driving if the tank range is shut, but it's worth a walk along there to Broad Haven south
I'd also add Freshwater West, and Angle bay up towards the Old Point House. You can sit outside the pub watching the small boats moored in the bay, ignoring the refinery to your left.
Further around the coast you've Dale which is stunning, there's a nature reserve there as well just before you come into the bay and further on the Lighthouse at St Annes head has some dramatic views.
Then moving up, you've Newgale, Solva harbour, Abereiddy and the Blue Lagoon, Portgain, Abercastle and Strumble Head.
Finishing at the top of pembrokeshire you've St Dogmaels, Aberteifi and Cilgerran Castle.