Lewis Haines, 31, from the Flemish Court in Lamphey, is charged with killing Lily Sullivan.
The teenager was found in the early hours of Friday morning near Mill Pond in Pembroke.
Miss Sullivan’s family said in a statement: “Lily was a kind and caring daughter who will be greatly missed by everyone.”
Haines will appear in Haverfordwest Magistrates Court on Tuesday, Dyfed-Powys police have confirmed.
A spokesman for the force said they were grateful for the support of the local community, adding that Miss Sullivan’s family continues to receive specialist officials and “our thoughts are with them at this incredibly difficult time.”
Anyone with information that may assist the investigation is asked to report it to the Dyfed-Powys Police, through the police’s dedicated public portal, or anonymously via the independent charity Crimestoppers on 0800 555111 or Crimestoppers-uk. org to visit.