Discovers Fearnley almost naked cycling with son (6)
I believe the answer is:
learns
'discovers' is the definition.
('learn' can be a synonym of 'discover')
'naked cycling with son' is the wordplay.
'naked' indicates the central letters (outside letters removed so centre is unclothed).
'with' is a charade indicator (letters next to each other).
'son' becomes 'earns' (I can't justify this - if you can you should give a lot more credence to this answer).
The middle letter of 'cycling' is 'l'.
'l'+'earns'='LEARNS'
'fearnley almost' acts as a link.
This may not be correct. Some or all of it may belong to another bit of the clue.
Can you help me to learn more?
(Other definitions for learns that I've seen before include "Acquires knowledge as in class" , "Gains knowledge or skills" , "Finds out" , "Discovers" , "Acquires knowledge or skills" .)