The birthplace of the Tudor monarch Henry VII, privately owned Pembroke Castle lies on a millpond just across the estuary from Milford Haven. During England's civil war in the 17th century, neither its six-meter-thick (20-foot) walls or imposing keep stopped Oliver Cromwell from capturing the castle. Ranked as Wales's most livable town, Pembroke itself has town houses dating from Tudor to Edwardian times. Today, many of the historic buildings have been converted into shops and cafés. Just outside town, Lamphey Bishop’s Palace is an atmospheric complex of splendid medieval ruins.