This is a very easy hike that leads to a very nice lake. From Royal Gorge, follow Kidd Lake Road until Kidd Lake, then continue towards Palisade Lakes. This is a dirt road that should be feasible also with normal cars; high-clearance cars will have an easier time. Unless you have a truly high clearance (above 10 inches) vehicle, you might find it best to park at the Devil’s Overlook Hut of the Royal Gorge cross-country skiing trail system.
From the parking lot, descend steeply for about 100 feet, then continue South towards Palisade Lakes. After 1/3 of a mile, you will walk along the dam separating Upper from Lower Palisade Lakes. Continue, keeping on the left at the fork with Palisades Trail. You will soon reach Long Lake.