To get to Milford Haven by car, take the M4 motorway towards Swansea. Exit onto the A48 and continue towards Carmarthen. Then take the A40 towards Haverfordwest and follow the signs to Milford Haven.
If you prefer to travel by train, there are regular services to Milford Haven station from Cardiff, Swansea, and other major cities in the UK. From the station, it's a short walk or taxi ride to the town center.
If you're already in Pembrokeshire, you can reach Milford Haven by following the coastal road from Tenby or Pembroke, or taking the A40 from Narberth.
If traveling from the north, take the A487 from Aberystwyth or Cardigan, then join the A40 at Fishguard and continue to Haverfordwest before turning onto the A4076 to Milford Haven.