Pembroke Dock (Welsh: Doc Penfro) is a town in Pembrokeshire, Wales, lying north of Pembroke.

The town was founded in the nineteenth century around a naval dockyard, but is now a ferry port, from which ferries sail to Rosslare in the Republic of Ireland. Its other major industry is oil refining.

Attractions in Pembroke Dock include the Victorian Gun Tower fortification, built to guard Milford Haven. The Cleddau Bridge leads north from the town, over the Daugleddau estuary.