Best not at high tide, but I think it still can usually be done.
Drive south down hwy 101 thru Del Mar (about 9 miles). After your cross “Del Mar Heights “ road (there is a light at the intersection) you will go down a hill and see a beach where many cars are parked alongside the beach. Find a spot, but if you can not , just pull over and wait a few minuets. Unless it is a summer day, you should see someone pulling out.
Walk south on the beach. You will see the entrance for Torrey Pines Park on your left where cars are paying to enter. You will see large cliffs begin on your left side. Walk south on the beach about 1 mile and you will see the cliffs bulge out towards the ocean and a VERY large rock in the water. Just before this on your left you will see stairs. Go up the stairs and you are now on one of the Torrey Pines State Park.
If you don’t mind paying a $10 fee, you can drive up and hike down, but no reason to do this if you don’t mind the extra walk on the beach.
When you are hiking up the stairs you will come to your first decision (left or right), go left (north) towards “yucca and razor points” . Don’t worry about getting lost, it is not that big.
You can either walk down the road which is on the east side of the park and get back down to the entrance, or you can hike back down to the beach and walk north back to the car.