http://www.cabosanlucasbeaches.com/palmillabeach.htm 

Head down the Transpeninsular Highway to kilometer 24, the turnoff for the One&Only Palmilla Resort. Just before you get to the resort, hang a left. What you’ll find is a blessedly serene beach protected by a rock outcropping. The water is calm and suitable for swimming, unlike most other area beaches, so it’s popular with families. There’s a dive shop nearby that offers snorkeling and scuba equipment, and Pepe’s restaurant has inexpensive and tasty food and drinks (and restrooms for patrons).