From East Rim Drive, turn onto Pinnacles Road near Phantom Ship Overlook; after about 1.2 miles, limited trailhead parking is on the left. The path is mostly easy, with a steeper stretch near the falls. Parking is limited and the viewing area is compact, so start early if you can. Pinnacles Road closes when East Rim Drive closes for winter, sometimes before November 1.
The park describes access for all-terrain wheelchairs except for “the last 1/4,” without specifying a unit for that exception. Check with the park before relying on that note.