Prescott-Chino Valley : SR-89N 15 miles or so
Chino Valley - "T Junction": E Perkinsville Rd, 23 miles (about 3-4 on pavement)
"T Junction" - Jerome : Jerome-Perkinsville Rd, 16 miles (1 on pavement)
I knew about the existence of this route since May, but it was on hold because none of my friends were here and I didn't feel like venturing alone. I had already traveled all the way to the T Junction but never went farther than 2 miles on each direction.
Last Saturday me and my roommate went to Sedona (with a university club) and drove by Jerome on the way there (we only took the paved roads, our vehicle was a school owned E-350), and I told him that we should take the dirt road sometime.
Next weekend there will be a rally in the region and we volunteered to help, so on Sunday we went to check out the places where he is assigned to, look for a camping spot (we will be camping there) and check out the road for him (he's taking his Cadillac STS) up the road.
The original plan did not include going to Jerome, but after we had a rough idea of where the spots were we turned around, and Evan (my roommate) suggested going to Jerome for lunch. I had doubts about the road, but it will be used in the rally, so that told me it wasn't that bad.
The T Junction is the junction between E Perkinsville Rd and Jerome-Perkinsville Rd (FSR354 and FR318)
You don't really need anything more than stock height, good tires and some knowledge on offroad driving (you can't do 55 on the last stretch of road before reaching Jerome and then survive).
I'll post maps later