If you don't have a 4x4 you can leave your car at the tiny guest house, which is already on the gravel road, but until the fork Haifoss/Holaskogur you can still use any car and walk from there to the waterfall, which is a hike of around 2 hours.
If you get there please make sure that you take care of yourself and stay away from the cliffs. There is nothing that can save you if you fall down there for over 100 meters, so don't be silly and risk your life for a selfie (I am saying this for a good reason, seeing people standing as far as they can stand on the edge to get the best possible shot of them...).
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<a href="https://www.locationscout.net/iceland/2570-haifoss-waterfall">Haifoss waterfall, Iceland</a> by Manuel Becker is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-nc-nd/4.0/">Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License</a>.
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