Saundersfoot began life as a few medieval cottages in a forest clearing in Coedrath, a hunting ground of the Norman Earls of Pembroke. Five hundred years later it had grown into thriving coal port with its abundance of anthracite coal, and exported 30,000 tons annualy from its harbour. 150 years on when the coal industry vanished Saundersfoot evolved into the seaside resort we know today.

'Saundersfoote' was first referred to by the Elizabethan Historian George Owen when describing the coal measures of Pembrokeshire, however on county maps from the 16th century it was referred to the village as St. Issells, the name of the parish. A water course paid rent for by Walter Elisaunder in 1332, Elisaunder's Ford may origionally have given the hamlet its name, being shortened to Saundersford.