We visited many beautiful beaches in Pembrokeshire, but my favourite would have to be Barafundle Bay because of it's location.

You have to drive and park your car at Stackpole Quay and then climb the steps to the top of the hill and walk along a marked track over the rolling hills that dip down towards the sea and become cliffs.
When you reach the top of the hill there is a stone wall and then some steep steps that lead down to the beautiful Barafundle Bay beach.  There is no other way to get there.  Even though it is hard to get there, there were quite a few people on the beach and in swimming.  But definitely not as crowded as other beaches.