This castle is extremely well presented.
It has a nice intro video about the castle's history when you walk in, and also has a great map of Wales in the Centre courtyard, showing many of the important Welsh castle locations. Some of the picnic benches around the map have historic facts too, presented in an easy-to-understand way.
If you go above where the intro video plays, there are a few rooms devoted to Pembrokeshire Yeomanry military service, from 1794 through WWII. You can even hold a sword, which seemed to be fun for the kids and adults! Go a bit further, and there are some recreated scenes with mannequins, like banquet, which are also interesting.
It seemed to be pretty kid friendly throughout, without going too commercial (like Warwick Castle).
One thing to note is that there are low doorways throughout, so if about 5'6" and above, you'll be doing some ducking. read more