This from wikipedia:

"Papillon was filmed at various locations in Spain and Jamaica, with the cave scenes filmed beneath what is now the Xtabi hotel on the cliffs of Negril. While the penal colony scenes for Papillon were filmed in Falmouth, and the swamp scenes were shot near Ferris Cross, Steve McQueen’s famous cliff jumping scene, near the end of the movie, took place on the cliffs in Maui, at Keanae.[3] McQueen insisted on performing the cliff jumping stunt himself, and later referred to it as "one of the most exhilarating experiences of my life".[4]"