No special access issues
Access to the cliff base is via a scramble/fixed rope from the southern end of the cave. There are also anchor points here for the rescue team, please do not interfere with these, someones life may literally depend on them.
Drive:
Head towards Palionisos, and after crossing the col, descend approximately 350m. Park at the hairpin turn by a gate near a goat pen. (If an old boat is visible on the left side of the road, you've gone too far). From the parking spot, proceed through the gate in the wire fence and follow the well-trodden path that skirts the hillside to the left. Continue past two boulders and a ruin, go through another gate, and track the red paint markers. In about 30 minutes, you'll spot the cave situated above a picturesque beach on the hillside.
Note that there is no bus service to this location. Apart from walking from Skalia, your alternatives are a costly boat ride or hitchhiking, which is fairly straightforward and safe on Kalymnos.