Make a day out of Palos Verdes; stop by Wayfarer's Chapel, then head across the street to Abalone Cove Shoreline Park.
Abalone Cove is known for their tide pools. I wouldn't say the tide pools were teeming with sea life, but we did spot a few sea anemones, star fish, small crabs, limpets, mussels and a rock louse (gross!).
Parking is $5. In the parking lot, there's a vending machine where you can get water and soda for $1. Follow the map the parking attendant gives you, and head toward the Abalone Cove sign. Walk along a dirt path to the shore. Once you get to the water, it takes about a ten minute walk to get to the tide pools. For most of the way, you will be walking on rocks, so it might be a good idea to wear shoes.
We saw some people picnicking, but it didn't seem like the best place for that... There was lots of decomposting kelp washed up on shore, and thus flies all over the place. It was also pretty windy.
Once you reach the bluff, you can cross a channel to see more tide pools. It seemed a bit dangerous, though, so most people didn't risk it.
Have fun and be safe!