I normally anchor in the light blue bit (I draw 1.8m) and dinghy in. There is a well marked channel to follow in but be aware that it dries out and can become to shallow even for the dinghy so you need to watch your tides. Also make sure everyone is wearing their life jackets to keep the HM happy.
There is an area just before the bridge that you can pull the dinghy up on and you are pretty well in the township.
As IT said, it's worth the trip on a good day.