Park in the car park in Zennor village and take the path to the left of the church, sign posted to Zennor Head.
When you reach the cliff edge, keep straight on towards Zennor Head, and then follow the coast round above Porthzennor Cove
Looking towards Pendeen
From here you can either cut back across the headland or if, like me, the lure of the cliffs is too great, retrace your steps back to the village.
Unfortunately the excellent little Wayside Museum, pictured below, closed in 2015.