35 year old Joshua Gardener from Milford Haven served with Mid and West Wales Fire and Rescue Service.
He was died after an incident during a training exercise involving two fire brigade vessels on Tuesday morning.
One other firefighter suffered minor injuries.
Superintendent Ross Evans, Pembrokeshire Divisional Commander, said “Specialist officers are continuing to support the family at this very difficult time and our thoughts remain with them and with his colleagues at Mid and West Wales Fire and Rescue Service.”
“We are working alongside the Marine Accident Investigation Board to ensure that a thorough investigation is conducted in order to establish the full circumstances surrounding this tragic death.
The investigation into the circumstances surrounding the death is continuing.
Anyone who was in the Cleddau waterway area, between Lawrenny and Neyland, sometime between 10.30am and 12midday on Tuesday 17th September, and has any information that could help the investigation, is asked to contact Dyfed-Powys Police by phoning 101 and quoting reference DP-20190917-101.