Budleigh Salterton had neither pier nor jetty but the shelved, stony beach was ideal for beaching the vessel in order to pick up passengers. The gap between beach and deck was bridged by a (very wobbly)  gang-plank. These steamer excursions became very popular in late Victorian times and many continued until the outbreak of war in 1939. 

The photograph above dates from the late 1890s 

A most interesting article about Devon's steamers and shipping companies, accompanied by many illustrations, can be found at

http://www.simplonpc.co.uk/DevonDock.html