Quick answer: Take a local boat across the channel, hire a car with driver, and choose one side of Penida: usually the west, for Kelingking and Crystal Bay. Start early and be back before the afternoon wind.
Nusa Penida is the big island across the channel from Lembongan. Its cliffs and viewpoints are famous, but it's large and its roads are slow, so a good day trip is about choosing well.
Crossing over
Local boats cross the channel between Lembongan and Penida in a short ride. Most people book the crossing and a car with driver together, through their accommodation or a local operator, so someone is waiting when you land.
Pick one side
The west
The most visited side: the Kelingking cliff viewpoint and its steep path down to the beach, and Crystal Bay for a swim or snorkel at the end of the day. Expect other visitors at the viewpoints.
The east
Quieter, with long coastal views and temples. Further from the boat landings, so start early.
Timing
Leave Lembongan early, while the sea is calm and the viewpoints are quieter. Plan to be back on the boat before the afternoon wind picks up. Drives between sights often take longer than the map suggests.
Kelingking path
The path down Kelingking's cliff to the beach is steep, rough and exposed. Only go down if you are fit, in proper shoes, and the weather is dry. Many people enjoy the view from the top and leave it there.
Or see Penida from the water
Many of Penida's best moments are under the water: mantas, reefs and, in season, mola mola. A boat trip from Lembongan can be a better day than hours in a car. Snorkelling and mantas.
Questions
How do you get from Nusa Lembongan to Nusa Penida?
By local boat across the narrow channel. Your accommodation or a local operator can arrange the crossing and a driver waiting on the other side.
Can you see all of Nusa Penida in one day?
No. The island is large and the roads are slow. Pick one side, usually the west with Kelingking and Crystal Bay, or the east, and enjoy it properly.
Should I ride a scooter on Nusa Penida?
Only if you are a very confident rider. Penida's roads are steeper and rougher than Lembongan's. Most visitors hire a car and driver.
Header photo: Magul, CC BY-SA 4.0, via Wikimedia Commons
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