Pinnacle Rock is located on the south side of U.S. 52 between Bluewell and Bramwell in Mercer County. The impressive formation is on the steep northern flank of the Abbs Valley Anticline, formed millions of years ago during the mountain-building period known as the Appalachian Orogeny. Pinnacle Rock is a hogback formed of erosion-resistant rock known as Stoney Gap Sandstone. The Stoney Gap Sandstone was deposited by southwest-flowing streams during the Late Mississippian geologic period.

A prominent local landmark, Pinnacle Rock is part of Pinnacle Rock State Park, a seasonal, day-use facility that opened in 1938. The park includes nearly 400 acres and has a large, rustic picnic shelter and other picnic facilities, and wonderful vistas and overlooks. A two-mile hiking trail connects Pinnacle Rock with Jimmy Lewis Lake, a fishing lake within the park. Rock climbing is allowed with prior arrangement.