The dawdle from Cardiff Bay to Barry Docks is a great “local” walk if you can forgive the boring bits along the clifftop from Penarth to Lavernock (where the views of the estuary are hidden behind scrubby vegetation) and the long drag into Barry Docks through commercial and industrial space. In between you have views like this, Sully Island and of course the delights of Penarth Headland, the pier and the barrage at Cardiff Bay.