Steynton or Stainton is a parish in the county of Pembrokeshire, Wales, formerly in the hundred of Rhôs and now an area of Milford Haven and in the Community of Tiers Cross.

[citation needed] Steynton has a crossroads from which roads lead to Milford Haven to the south, and from it toward Johnston and Haverfordwest in the north and Jordanston and Pembroke, Pembroke Dock and Neyland to the east.

While Steynton village is in the south of the parish, Dreenhill is a hamlet in the north (National Grid reference SM924134) on the B4327 road 1 mile (1.6 km) southwest of Haverfordwest.

The church tower was used as a musketry position in the English Civil War action at Pill Fort in Milford Haven.

Steynton is part of the local government community of Miford Haven.