Penarth is linked to west Somerset and North Devon seaside resorts such as Minehead, Ilfracombe and Lundy Island by the Paddle Steamer Waverley and , which have sailed from Penarth pier for over 60 years, continuing a steamer tradition that started when the pier was built.
The Pont y Werin pedestrian and cycle bridge opened in July 2010, completing a 4.2 mile circular route between Cardiff Bay and Penarth.