Short answer: There's a car park at Pendennis Point itself, right at the end of the headland, with views across Falmouth Bay and the Carrick Roads. The headland walk is short, largely level and free.
Pendennis Point is the tip of the headland that guards Falmouth harbour, and it is one of the better free things to do in the town.
There is a car park at the Point itself, at the end of the headland road past the castle. It is small and fills on sunny days and summer evenings, when it is a popular spot to sit and watch the water. Charges apply — check the board, as rates vary by season.
If it is full, there is further parking back towards Pendennis Castle, with a short walk out to the Point.
The Carrick Roads — one of the largest natural harbours in the world — with St Mawes across the water, and the open sea beyond. On a clear day you can watch shipping coming and going, and Falmouth is a working port so there is usually something moving.
A short, largely level loop round the headland, suitable for most people and manageable with a buggy on the surfaced sections. It takes perhaps twenty minutes at a stroll, longer if you stop.
Above the Point, and a separate paid attraction — an English Heritage Tudor fort with genuinely good exhibits and tunnels. Dogs are welcome in the grounds but not indoors.
Early evening. The light across the Carrick Roads is at its best, the car park is quieter than mid-afternoon, and on a clear night it is one of the better spots in Falmouth to watch the sun go.
Gyllyngvase Beach is a short walk round the headland — flat, sandy and with a cafe on the sand. Between them you have an easy half day that costs almost nothing.
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