The buildings were originally a 13th-century stone fortified manorial complex, founded by the Augustinian Priory of Haverfordwest.
[1] Cresswell Castle consists of a range of three buildings set along the perimeter of a courtyard.
The courtyard is rectangular in shape, about 30 by 20 m (100 by 70 ft), and is surrounded by a curtain wall with a small circular tower at each corner.
During the sixteenth century, the Barlows of Slebech converted the castle into a manor house with stables, gardens and fishponds.
It can be approached by Millway Lane, a turning off the A4075, the Canaston Bridge to Pembroke road.