Rescue teams responded to a report of a swimmer in difficulties between Whitesands and Porthseli on Thursday afternoon.
St Davids RNLI inshore lifeboat immediately started a shoreline search between and was joined by the all-weather lifeboat, St Davids, Broad Haven and Fishguard coastguard teams, RNLI lifeguards and coastguard rescue helicopter 187.
During the search information was received at 6.15pm that the swimmer had come out of the sea and was safely ashore.
All units were stood down, and the all-weather lifeboat then continued to St Brides Bay to carry out a prearranged exercise involving both Angle and Little and Broad Haven lifeboats.
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