In reply to stevieb:
I don't know North Pembrokeshire at all really. For South Pembrokeshire there's Saddlehead. It's a bit of a scramble down (head for the "saddle" along the ridge, then descend), but nothing too extreme, you just need to be sensible. I suspect there'll be an ab-rope set up as well... there often is. A good part of the crag is non-tidal and there's lots of fairly easy routes by Pembroke standards (Diff to HVS). Nearby there's also Stennis Head (Main Cliff), which again has a similar level of scrambling to the base, but you need to know where the descent is. Again, it's non-tidal, but apart from a couple of VS climbs near the left end, the climbing is a lot harder (HVS to E3).
There are other easier crags like Crystal Slabs and Flimstone Bay, but access is a whole lot more involved (finding them and abseiling in).