This is in a residential area so it's a bit more secluded, but you're allowed to park on the streets and there are public access pathways from the street every few houses. I love the powder soft sand, calm clear water, and view of the Mokes! We came here on a weekday morning and had no problem finding parking and a nice spot on the beach. We tried snorkeling since there is coral right offshore, but visibility was poor on the day we went.
If you're a fellow tourist, this beach is immediately adjacent to Kailua Beach down the road, which has a large parking lot and kayak rentals. You can take a kayak and paddle out to the islands if you're feeling adventurous, or hike the Lanikai pillboxes trail for a stunning view.
Use common sense and lock your car, and be respectful that you're basically in someone's backyard. Parking is a bit crazier on the weekends - I recommend getting there earlier to find a spot. Since it's a neighborhood beach, there aren't any amenities like bathrooms or showers. After you soak up the sun, cool off with a shave ice at nearby Island Snow :)