He was flown to Heath Hospital in Cardiff by air ambulance just before 9am last Tuesday, but died the following day.
Mustang Marine is presently building an extension to its boat slipway building hall at the docks.
Kevin Lewis, Managing Director at Mustang Marine said that although the victim was not a direct employee, Mustang Marine together with the Port of Milford Haven were working with the police and the Health and Safety Executive who are carrying out an investigation into the incident.
He said: “This has been the most tragic of incidents we could imagine. We are a very close community at Pembroke Dock and the Port of Milford Haven as a whole, and this incident has been felt by us all.
“Our deepest sympathy goes to the family and friends of the gentleman who passed away, together with my colleagues we are all saddened by the news of his death.”