In reply to Trevor Langhorne:
Actually, neither of these options is to be recommended unless you fancy an overlong walk.
Your best bet is to park considerately on the side of the road either at SS 2215 1759 near Mead or SS 2175 1692 near Marsland Manor (space for 2 or 3 cars at each). From both spots straightforward paths lead down to the beach at SS 2119 1742 (Marsland Mouth), from here boulder hop southwards to the crag.
As Trevor says, there is no parking at or access from Cornakey Farm, if you want to climb at Cornakey Cliff (Wreckers' Slab (VS 4b) etc.) then park at Morwenstow next to the church.