Yes, but it will set you back $8 or whatever the parking fee is (the free portion of Westward Beach Rd is 1 mi to the NW and free parking is hard to come by).

The Santa Monica Mountains National Recreation Area has some of the best hiking anywhere, not necessarily at the beach. Any of the canyon roads (Kanan Dume or Malibu Canyon) will take you on a winding tour of the mountains. Malibu Canyon State Park, accessible from Malibu Canyon Road, has scenery you will instantly recognize upon entering the park (the opening sequence of a long-running TV show was filmed there). Hike through the park and find the secret waterfall. There is also Topanga State Park, featuring free parking (Topanga Canyon Rd 1 mi north of the town of Topanga) and a campground that is only accessible to hikers.