I don't think you have to pay (other than to park your car) to use Jetty Park at Titusville, which is only 6 or 7 miles from the launch site.
The problem is the crowd. You'll need to be there (and stay there) before daybreak, I suspect. If you want the closest view and can tolerate the scrum, Jetty Park is the place to go.
Old Haulover Canal is a good spot, but you can't see the actual lift-off from there. The vehicle is 3-400 feet up, before it becomes visible. The noise, however, is bloody ridiculous.