You pull in, drive slowly down a dirt road, and bam. It's like you're on another planet.
It's only an accident that this landscape exists. The bizarre formations were pushed from the ground by the San Andreas fault. It made a fantastic place to hide out, and bandits took advantage of that. The park gets its name from one of those bandits, but its much more well known for its on screen appearances. I confess that when I visited I was certainly much more excited about being at a place where multiple Star Trek stories had been filmed and not so much worried about the history.
I unfortunately couldn't find a solid trail map, but once you enter the park, follow the dirt road and keep heading towards the right and you'll dead end into a dirt parking area. Park, turn around and face the entrance, and you'll start recognizing locations.
Here are some other moments from the Star Trek verse where you can spot Vasquez Rocks:
Vasquez Rocks is open year round and does not have an admission or parking fee. More information on the park here.