Pembroke was founded in 1892 as a railroad town and turpentine shipping center.

It was named after early resident Pembroke Whitfield Williams.

On April 5, 2022, an EF2 tornado struck the town, causing heavy damage to many structures, trees, and power lines.

The tornado would later strengthen to EF4 intensity in Black Creek, causing catastrophic damage, killing one person, and injuring 12 others.

[8] As of the 2020 United States census, there were 2,513 people, 887 households, and 656 families residing in the city.