Pembroke Castle is a medieval castle in the centre of Pembroke, Pembrokeshire in Wales. The castle was the original family seat of the Earldom of Pembroke. A Grade I listed building since 1951, it underwent major restoration during the early 20th century.

Pembroke is a town and community in Pembrokeshire, Wales, with a population of 7,552. The names of both the town and the county have a common origin; both are derived from the Cantref of Penfro: Pen, "head" or "end", and bro, "region", "country", "land", which has been interpreted to mean either "Land's End" or "headland".