The Castle can be visited
Manorbier Castle

Manorbier Castle is a Norman castle ruin located in Pembrokeshire, Wales. Situated near the village of Manorbier, this historic site is distinguished by its well-preserved structures.
History+
The origins of Manorbier Castle date back to the late 11th century, when the Norman knight Odo de Barri had a wooden house with an earthwork built here. His son, William de Barri, began constructing the first stone elements in the first half of the 12th century. Around 1230, the earthwork was replaced by a stone enclosure, and a chapel was added around 1260. The scholar Gerald of Wales, also known as Giraldus Cambrensis, was born at Manorbier Castle in 1146.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Colin Jackson
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 51.6455, -4.7997