It was founded in 1814, although not formally authorized until the Prince Regent signed the necessary Order in Council on 31 October 1815, and was known as Pater Yard until 1817.

The Royal Marine garrison was housed in the hulked 74-gun ship, HMS Dragon, after she was run aground in 1832.

Many of the workmen commuted by boat from nearby communities until Pembroke Dock town was built up.

The Royal Air Force, however, built RAF Pembroke Dock on the site during the 1930s to house its flying boats, demolishing many of the existing buildings to make room for the necessary hangars and other facilities.

The appointment of admiral-superintendents (or their junior equivalents) dates from 1832 when the Admiralty took charge of the Royal Dockyards.