Located approximately 45 minutes driving from Puerto Princesa to the west side of island, barely developed Nagtabon beach is one of the most underrated beaches in the Palawan. There is several beach coves in that area but Nagtabon is one of the more accessible. If you will go there from Puerto Princesa take Puerto Princesa South Road instead of Puerto Princesa North Road. From Puerto Princesa South Road turn right to Irawan - Tagburos road and point your Google Maps to View Deck (Waze will not work). You will enjoy 45 minutes driving through untouched nature whichever vechile you have.
Please note, Nagtabon beach is not included to any tour offered by local tourist agencies, so you will need to arrange transportation by yourself. If you do not have car or motorcycle, you can hire tricycle. Tricycle driver will wait for you whole day at the entrance while you are on the beach. It will cost you 1000 pesos ($20). Do not accept anything for more than 1000 pesos because there is no way that trycicle driver can earn more than 1000 driving within Puerto Princesa. Picture above is spectacular view from View Deck.
As I said, beach is barely developed, it is almost untouched so do not expect so much of 21st century luxuries. There is no phone signal and no internet signal. There is 2 let's say restaurants, so grab your beer (it cost just 50 pesos in one restaurant. In another is 80), imagine you are in 90's and talk with each other. Water is perfectly clear and warm and sand is like dust. View is breathtaking whereever you look. Entrance is for free and there is a lot of space for parking.
If you have time, I recommend to visit another beautiful beach, Talaudyong beach, which is only 15 minutes driving more to the north.