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The castle's location, on a ridge, surrounded on three sides by the tidal River Cleddau, make it a formidable stronghold The history of the site goes back at least to the Roman period, although there are no tangible signs available at present

In the middle ages, Pembroke was strategically important It was one of the main ports for traveling to Ireland and the seat of the earls of Pembroke, with a castle that was one of the strongest in the kingdom Both the town and the castle developed and were fortified toghether

The first Norman settlement was established in 1093, when Roger de Montgomery ordered the construction of a wooden fortress on the rocky peninsula where the stone castle now stands This stone castle was developed in the following years and was largely the work of William Marshal, Earl of Pembroke, who held the fortress until his death in 1219 It was then extended and improved upon by all the succeeding Earls of Pembroke The Earldom of Pembroke was created by King Stephen for Gilbert de Clare, one of the main figures in the conquest of Ireland and husband of Eva, the King of Leinster's daughter Gilbert de Clare had two sons, the elder, Richard, succeeded him to become the second Earl in 1148 Richard died in 1176, leaving his only daughter, Isabel as a ward of Henry II, who married her to William Marshal in 1184 As a result of the marriage Marshal became Earl in 1189

Marshal was a powerful figure in both England and Wales, being a crusader and a loyal follower of Henry II, then Richard I and John Moreover Marshal was Regent to Henry III during the King's childhood Perhaps Marshal's greatest bequest to Pembroke was the Great Round Tower and a great deal of the Inner Ward William was succeeded by his five sons The marshal line ended in 1245 and the castle came into the hands of King Henry III's half brother, William the Valence, who again improved its defenses

In 1400 Owain Glyndwr led an insurrection against the Anglo-Norman settlers but was persuaded not to attack the town of Pembroke by the constable, who paid him a sum of money

Jasper Tudor became earl of Pembroke in 1454 He was the first owner to make the castle into something approaching a home It was during this time that Jasper's older brother, Edmund Earl of Richmond, sent his pregnant bride to Pembroke for protection in 1456 Edmund died several months before his wife gave birth to the man who was become King of England, Henry VII The tower in which he was born is still called Henry VII Tower

Pembroke castle continued to be connected with royalty and national politics through Henry VII and Anne Boleyn, who became Marchioness of Pembroke

When Cromwell attacked the town in 1648  the walls of the castle were in good repair, allowing the inhabitants to withstand attack for some time

We should remember that Pembroke is one of the greatest pre-Edwardian castles in Britain and although damaged, the Keep is one of the finest examples of a round keep in the country Other fine components of the castle are The Great Gatehouse, the domestic and public Buildings as the Country Court and the Norman Hall and The Wogan The Wogan is a natural cave over which the castle is built The cave overlooks the river and there is a spiral staircase that goes up into the castle, this made for easy access to the river and the sea All this stone walls and constructions are evocative reminders of Pembroke's historic pedigree