Pay parking at King Kamehameha Kona Beach Hotel.
it is less than a five min walk across the street to the pier. (see map)
Free parking accessed off of Alii Drive and Kuakini Hwy on Likana Ln (see map)
It is usually quite full, so allow extra time to find a place and park.
About a 10 minute walk down Alii Drive (cut through the mall shops) and to pier.