It's quite a long walk, especially if you're carrying much fishing equipment. It's much easier to take the shuttle.
Point Pinole Pier Facts (from the article — and I hope it hasn't changed)
Hours: Park & Gate hours: 7 am – 7 pm. Facilities: A parking lot is located at the entrance near Atlas Road; it charges a $2.50 fee to park. It is a long walk from the parking lot to the pier but some do it. More common and convenient is to use the park shuttle which runs on the half-hour daily, except for Tuesdays and Wednesdays, from the parking lot to the pier. Departures from the parking lot are hourly from 7:30 a.m. to 2:30 p.m. during much of the year, and generally the hours are extended during the summer months. The shuttle returns from the pier hourly from 8 a.m to 3 p.m. There is a 50 cents one way, $1.00 round trip charge for adults to use the shuttle, a 25 cents charge for those age 6-12. Senior citizens, age 62 and above, and disabled persons, ride free. Rest rooms are found near the front of the pier as are drinking fountains. Fish cleaning stations, benches and wind breaks are found on the pier. There are no bait and tackle or food facilities. Nearby are found shaded picnic areas and tables. Handicapped Facilities: Handicapped parking and restrooms. All anglers must use a shuttle to get to the pier. Not posted for handicapped. How To Get There: From I80 take the Hilltop (Richmond) exit; go west on the Richmond Parkway to the exit for Giant Highway and a sign for Point Pinole Regional Park.