Nicholas Canyon County Beach is 1 mile east of Leo Carrillo State Beach at 33850 Pacific Coast Highway, Malibu. This is a nice beach where you can hang out, fish, picnic, surf and go for a great walk in about 25 acres. There's a decent sized parking lot with 150 spaces available, as well as parking on PCH. Parking costs range from $3 to $10 (as of July 2019), depending on time of the year. There are also portable restrooms on hand as well as showers and picnic benches. More information at beaches.lacounty.gov/nicholas-canyon-beach.
LA County beach rules at https://beaches.lacounty.gov/la-county-beach-rules/ - as an fyi, animals (including dogs), alcohol, smoking, fires/BBQ and amplified music are allowed.