There are 2 or 3 screws under small plastic covers (IIRC each door is different). These come out first. Then it is held on with plastic pins around the edge. Just pull straight out. It will take a bit of force and will sound like it is breaking when it pops. Once you get the first one, just work your way around. The rest will be easier. Once the panel is off, you can disconnect the door handle mechanism and completely remove it.
Thanks jseck2, helped allot! The force part is what I was nervous about it, I kept pulling and pulling and thought I was going to break it. I found it easiest to start pulling the panel off at the top left corner (by the side mirror). Also another note, even though the panel looks like it is several panels that should come apart they are bound together and do not come part. The entire door panel comes off as one piece.