Easton Beach (also called First Beach) marks the beginning of the three and a half mile path along the cliffs all the way to Bailey’s Beach. This is paved most of the way but some parts are unpaved and can be quite difficult if you have kids. The view from the path is quite spectacular, and there are some breathtaking coastlines as well as views back towards the mansions.
I recommend either doing just a section of the walk or joining a walking tour if you are interested in the historic background and information on the architects.
Get to the Cliff Walk from Narragansett or Ruggles Ave, as this section is the most beautiful stretch. It passes through several waterfront mansions, including The Breakers, which looks so dramatic from the cliffs. However, you can get to the Cliff Walk from any road running east off Bellevue Avenue.