The fiery debate occurred as a majority of councillors voted to support the plan at the council's community development committee meeting.
The decision meant the road would open on weekdays, during daylight hours, but remain closed at weekends.
Plans to erect a security fence at Lawyers Head would be delayed while a resource consent was sought, which could take three months, but could be abandoned if no incidents occurred in the area in the meantime.
Committee chairman Cr Paul Hudson said he hoped the agreement would be accepted by those on both sides of the debate.
He had tried to reach a compromise with "as many councillors as possible" before the meeting, he said.
However, Cr John Bezett attacked the decision as a compromise destined to fail.
"This to me is trying to please everybody. We are going to end up pleasing no-one," he said.
Plans for the fence at Lawyers Head had followed talks with emergency services. A delay meant councillors were "waiting for a disaster to happen" before committing to a fence, he said.
"Initially, the focus was on safety. Now, the focus seems to be on allowing people to walk along the road," Cr Bezett said.
He also accused some councillors of colluding before the meeting to ensure the initiative won support.
"It's a weak decision and I resent the way it's come to this committee. I feel there's been some collusion between some councillors, and not others.
"I feel like this committee has been hijacked."
That prompted Cr Fliss Butcher to ask for an explanation, but Cr Bezett would only say: "I understand collusion."
Yesterday's debate came after a final decision on reopening the road was delayed at last month's council meeting.
The council had been set to vote on a plan - already approved by the committee - to reopen the road during daylight hours and build the fence.
The final decision was referred back to yesterday's committee meeting, at Cr Hudson's request, after a petition signed by "several hundred people" was received calling for the road to remain closed for walkers.
The new measures would begin once council staff considered potential parking issues arising from the decision.
Crs Chris Staynes, Michael Guest, Richard Walls, Teresa Stevenson and Dave Cull were among those to speak in support of the compromise.
Mayor Peter Chin supported the compromise, but said he was "in no doubt we are going to be criticised roundly by everybody".
The plan
> Gate blocking vehicles from John Wilson Ocean Dr to be retained, unlocked on weekdays one hour after sunrise and locked one hour before sunset.
> Gates to remain locked at weekends, from Friday night until Monday morning.
> Fence at Lawyers Head to proceed to resource consent stage, but not built for up to three months.
> Monitoring of the road's use by walkers on weekends and of Lawyers Head, could see the fence plan abandoned.
> Plan to start once parking issues considered by council staff.
