The most scenic part of the canyon is only about 4 miles long, twisting through magnificent cliffs of red rock at the east side of the northern part of Death Valley. But the real experience is to drive through the whole area, using Titus Canyon Road starting a bit outside of Death Valley close to Beatty.
In order to drive through the whole canyon, you need a high clearance 4x4 vehicle and you better know how to use it. When you enter the road close to Beatty, the first section is a two-way dirt road but after about 6 miles the road becomes one-way, starting to climb into the Grapevine Mountains of the Amargosa Range. The next 8 miles are rather rough and exposed, quite steep and narrow - but the scenery is gorgeous. Once you reach Leafield (a ghost town that was abandoned once there was no more gold to find), the road becomes easier to manage, now descending into Titus Canyon itself. In this area you can see a lot of cacti, some of them growing even on the steep cliffs of the canyon walls. The most scenic part of the canyon starts about 4 miles after Leafield, twisting for miles through enormous cliffs of red rock.
If you don't feel comfortable to drive through the whole canyon, you can still explore the most scenic part by driving to the canyon exit (a short 3 mile dirt road) and hike into the canyon for a while.
Directions
If you want to explore the whole canyon, the best approach might be to drive to Beatty (located on 95 in Nevada) and then take 374 West (South). Titus Canyon Road starts after about 5 miles to your right - about 1,5 miles after you have passed Beatty Airport Road. The entrance is not that easily to find but it's the only dirt road off 374 in that area.
If you start at Furnace Creek, take 190 North until you reach Beatty Junction after about 10 miles. Turn fight into Beatty Road (North) and follow the road until you reach Daylight Pass Road after another 10 miles. Turn right into Daylight Pass Road (East) which actually becomes 374 in Nevada and locate Titus Canyon Road after 14 miles to your left (if you see Beatty Airport to your right, you have missed it).
If you just want to hike into Titus Canyon, take 190 North at Furnace Creek and stay on 190 once you have reached Beatty Junction. About 6 miles after Beatty Junction 190 turns West, but you need to continue North on North Highway. Stay on North Highway for about 15 miles and the dirt road leading to the exit of Titus Canoyn will be at your right.
