In order to set permissions for the Pages tab you need to go to Administration->Permissions click on "by Role or User". Now from the left menu choose your custom role and scroll down in the right pane until you reach Widget Templates section. You will see a Pages sub-section in it, where you can add the wanted permissions. Please keep in mind that assigning only the "View" permission won't give you access to the Pages tab since it refers to the frontend pages.
Next step is to go to the Pages tab and click on Permissions for all pages on the right hand side, where you need to assign your role to the required permissions.
Take a look at this video where I create a role and assign permissions for view, edit, and delete of pages. You may want to check out our Documentation for more information on managing permissions.
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