Tiemu waterfall (中文版: 鐵木瀑布) in Taoyuan, Fuxing Township (桃園縣復興鄉) is very close to the road, but it requires climbing down a short but steep rope to get in the water.
You can climb up the side of the waterfall and jump in, but it isn't that deep so I recommend wearing shoes, and not diving. Immediately downriver I found another place to jump, but it also wasn't incredibly deep.
Tiemu Waterfall (Ironwood Waterfall)
Taoyuan County, Fuxing Township
Waterfall: 24.81357, 121.38488
Parking: 24.81385, 121.3847
Detailed Map: https://goo.gl/HjMcSh
Have you been to Tiemu Waterfall (鐵木瀑布)? Share your experiences or ask questions in the comments section below.