Palisade Rim Trail runs along the edge of the cliffs on the right, it's a long way down, hence the "Need to Know" section says to watch where you're going.  Nice views though.

Palisade Rim

   Palisade, CO

8.5 mi 13.7 km
Length
1,476 ft 450 m
Ascent
-1,479 ft -451 m
Descent

“Techy singletrack with amazing exposure and phenomenal views.”
Details at