Pembroke is on the south Pembrokeshire peninsula by the estuary of the River Cleddau. Pembroke town is at the bottom of a small valley, flanked on all sides by woodland and arable farmland. The town is 8 miles (13 km) south of the county town of Haverfordwest. The town is centred on Main Street, which is the only street that is inside the original Pembroke town walls.