Parents believe children walking to the Golden Grove School, in Pembroke, are in serious danger, because there is no pavement along the route.
Homes on the Grove Estate, at the bottom of Well Hill, are only a short distance from the school, but there is a sharp bend in the busy road and no pavement.
Residents contacted town councillor Aden Brinn to see if he could help solve the problem.
One resident, Judith Stimpson, took Cllr Brinn to the problem area to demonstrate how dangerous the stretch of road could be.
Cllr Brinn has now started a petition to hand to Pembrokeshire County Council's highways department and has the support of AM Angela Burns.
Cllr Brinn said: "I live in the area and was asked by locals to see for myself how bad the problem is.
"The developers are building a pavement part of the way between the new houses and the school as requested, but there is no council foot way leading onto the school.
"There is a dangerous bend in the road, it's an accident waiting to happen."
"We want to encourage more children to be healthy and to walk to school but we cannot let them be put in danger like this."
Angela Burns said: "We need a footpath on this section of road as a matter of urgency."
The headmaster of the school, Les Johnston, said: "The school fully supports Cllr Brinn's petition.
"It is something that has been of concern for some time."
