From Santa Marta take the bus from the corner of Calle 11 with Carrera 11. It leaves about every half hour and costs C$5,000. Ask the bus driver to drop you off at the park entrance, it is about one hour and can't be missed. From the park entrance it is another 4 kilometres to CaƱaveral. You can either walk, take a van for C$2,000 or try to hitch a ride. From the entrace to Arecifes is all in all a walk of about 1.5 hours, but you can see monkeys and other wildlife along the way if you walk.
A taxi from Santa Marta might be an alternative for groups of 3 or 4 persons.
With a large number of people it might work out cheaper to rent a boat from Santa Marta or Taganga. You get dropped off at one of the park's beaches and this way you avoid the entrance fee.
There are a few camping areas in front of the park entrance that charge approximately C$3,000 per tent. This is an alternative in case you cannot get into the park the same day of your arrival.
GPT (http://www.greenpathtrans...) offers now low emission rides from Santa Marta to the Tayrona Park and other destinations in this area.