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Pembroke's strategic importance soon increased, as it was from here that the Normans embarked upon their Irish campaigns. In 1189 the castle came into the hands of William Marshal, who, over the next 30 years transformed the earth-and-timber castle into a mighty stone fortification. First to be built was the inner ward with its magnificent round keep (shown right), deservedly famous for its early date, height of over 22m and remarkable domed roof. The original entrance was on the first floor, approached by an external stair, the present ground-floor entrance being a later insertion. The keep had four floors, connected by a spiral stair which also led to the battlements. The large square holes on the top of the outside were to hold a timber hoard, or fighting platform. When the castle was attacked, the hoard could be erected as an extra defence, outside the battlements but way above the heads of the attackers.

The town of Pembroke still retains sections of its defences, which ran south from the Westgate Tower and east from the Northgate Tower. The northern line ran along what is now Millpond Walk. Little survives of the stretch nearer the castle, but further along are some well-preserved sections with crenellations still visible, but blocked by the raising of the walls, when the stair ramps were built along them to give access to the town houses within. A small circular tower on the north-east was originally attached by a now broken stretch of wall to Barnard's Tower, and impressive three-storeyed tower with a forebuilding over its entrance, defended by a bridge pit, portcullis and gate. The roof dome is intact, and the whole structure with its fireplace and lavatory is a strong, almost self-contained defensive unit; this was probably necessary as it was isolated on the north-eastern end of town, almost half a mile from the castle