Bonita Beach is only a 10 to 15 minute drive from Fort Myers Beach, depending where you start out if whether traffic is cooperating. Head south on Estero Blvd, past Lovers Key and cross the bridge into Bonita Beach on Little Hickory Island. Bonita Beach is not (to my knowledge anyway) a separate town and is the beach neighborhood of Bonita Springs.
A number of beach access locations exist along Bonita Beach and they are generally marked with a colorful flag-looking sign on a pole on the beach side of the road. These beach access locations are usually small and offer parking for 6 or so cars with metered parking so show up early to make sure you get a parking spot.
Along with the public beach access locations, there are 2 other options for visiting Bonita Beach:
Located on the beach side where Bonita Beach Road turns north and becomes Hickory Blvd. Parking is available at the usual rate of $2 per hour and usually crowded during season. They do not allow pets in the park or parking lot, which I feel is total junk, but the norm around these parts for county or state operated parks. The photo below, taken from leeparks.org shows an aerial view of the park.
Doc’s is right next to Bonita Beach Park and they offer free valet parking while you are at the restaurant. Their lot is not very large, although they do have some overflow area and this is a good alternative if you want food or drinks and only plan to spend a little time at the beach. They have beach-front tables and also inside seating both downstairs and upstairs which has a nice beach view. I was not impressed with their service or food though, and thought they were overpriced, not really tasty and slow in service which seems on par for many of the places I have seen reviews. I have not tried it myself, but I have heard the Chicago-style pizza is great, but takes them about 45 minutes to make. It is, however, the only restaurant on Bonita Beach, so some people feel okay substituting service and food quality for location.