He was the son of William Herbert, 1st Earl of Pembroke, and Anne Parr. His aunt was queen consort Catherine Parr, last wife of King Henry VIII. His uncle was William Parr, 1st Marquess of Northampton, who was an influential man during the reigns of Edward VI and Elizabeth I. Herbert was responsible for the costly restoration of Cardiff Castle. Pembroke, like other members of his family, was a man of culture. He was a special patron of antiquaries and heralds and collected heraldic manuscripts.