Pembroke was a fifth-rate warship of the Commonwealth of England's naval forces, one of six such ships ordered on 28 December 1654, all six from the state dockyards (the others were , , , , and ). She was built by Master Shipwright Samuel Raven at Woolwich Dockyard, and was launched in September 1655 as a 22-gun fifth rate. She was named Pembroke after Philip Herbert, 4th Earl of Pembroke.
Her length was recorded as on the keel for tonnage calculation. The breadth was with a depth in hold of . The tonnage was thus calculated at 269<small></small> bm tons.
She was originally armed with 22 guns, comprising 18 demi-culverins on the single gundeck and 4 sakers on the quarterdeck. At the Restoration in 1660 she was taken into the Royal Navy as HMS Pembroke. By 1665 she actually carried 28 guns, comprising 20 demi-culverins on the gundeck, and 8 sakers on the quarterdeck. The Pembroke took part during the Second Anglo-Dutch War in the Battle of Lowestoft and the Battle of Vagen in 1665 and in the attack on Dutch shipping in the Vlie ("Holmes's Bonfire") during 1666. On 10 May 1667 she foundered in Tor Bay following a collision with .