In reply to Pete Pozman:
I often walk in that area and have never seen an access restriction around there. I last walked that section of the Pennine Way about six months ago, on a round taking in Cross Fell, and there were no restrictions then. I don't know of any reason there should be any in place now, unless it's to prevent lovers of little visited hills sinking up to their necks in bog.
If you fancy a longer day, I reckon the approach from the Penrith to Alston road, heading along the Maiden Way and branching off at the Melmerby Shop, is more interesting.