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Not camped but spend alot of time down that way.  http://www.visitpembrokeshire.com/content.asp is a good website to find out about places to go for days out etc.

As for what to do with the dog, lots of shops in Tenby, Pembroke, Narberth, Haverfordwest will allow dogs in.  They don't make a song and dance about letting people know this but if you ask first (and the dog is not soaking wet and well behaved) most will let them in with you.

Dogs are allowed at Pembroke Castle and some other Cadw sites (Cilgerran Castle, Lamphey Palace).

You could try http://www.ukcampsite.co.uk/sites/details.asp?revid=4126 I called in there last season and really liked it but the owner refused to take my teens ... not that I blame her

It's an absolutely beautiful part of the world and loads to do.

ETA, Oakwood Park have kennels where you can leave the dog, not done that though, mine would freak if I put him in a kennel and also they are close to the car park (not behind gates) and I'm a bit paranoid that someone could snatch him.

Hi Leanne

We stayed at Kiln Park in 2008.  It's a Haven site so yes, you are over-charged a little but you have the peace of mind knowing your child will be occupied even if the weather is bad.  I'm not really a fan of such big sites but it is situated on the beach, within easy walking distance of Tenby (either over the beach or via a path), and I have to say they were very friendly and helpful.  The camping field is level and drains well and the location really does make the expense justifyable.  From what I remember, expect to pay about 10p a pint more for your beer than in the pubs.