Self-guided geological and historical tours can be found along trails in the park. The Pacific Crest Trail traverses the park between the east and west portions of the Angeles National Forest.
Vasquez Rocks is located south of the San Andreas Fault zone along State Highway 14 in the western Transverse Ranges. It has been a popular television and movie set location for many years. Television shows like Star Trek as well as movies such as The Flintstones had segments filmed here.
The geology of Vasquez Rocks consists of coarse clastics deposited upon volcanic rocks released as the North American tectonic plate initially collided with the Pacific Plate about 25 million years ago.
Here's more information from http://seis.natsci.csulb.edu/VIRTUAL_FIELD/Vasquez/vasqmain.htm
Vasquez Rocks is named after a bandit who hid out in the numerous caves and caverns found in the park and surrounding vicinity. The rocks exposed here mark an important event in the geologic history of Southern California. The sedimentary rocks are up to 25 million years old and consist mainly of sands eroded off of a nearby uplifted mountain and deposited into a rapidly downdropping basin near the edge of the Pacific Ocean.
It was about 25 million years ago that the North American continental crust overrode the subducting Farallon Plate all the way to its origin: its seafloor spreading center. The North American Plate came into contact with the Pacific Plate for the first time and the San Andreas fault system would soon take over as the tectonic plate boundary.
When the plate boundary changed, the Earth's crust buckled and splintered to adjust to the new forces. Great blocks of crust were broken apart and jostled around, creating topography of high relief and creating conduits for molten rock to reach the surface. The sediments at Vasquez Rocks are deposited upon and with numerous basalt flows which constitute a major portion of the lower Vasquez Formation. These basalts were extruded into the rapidly downdropping basin as major faults splintered the crust. For millions of years afterward, repeated episodes of uplift to quiescence produced several distinctive sequences called megacycles. These megacycles are characterized by coarse clastic sand and gravel deposits at the base of the sequence (as uplift became strong) with a fining upward progression (as tectonic activity quiesced) into the siltstones and shales of a distal alluvial fan-playa depositional environment.