Was cleaning the car today and notice one off the headlights was cloudy
right one https://www.dropbox.com/s/tri10z2nxi7oxdu/2015-03-01%2012.00.57.jpg?dl=0
left one https://www.dropbox.com/s/puzbnbr7rhpl4w4/2015-03-01%2012.00.52.jpg?dl=0
IS there a way to clean it
I've just done this for my MOT.
How you do it depends on what you have available to you. If you have paint refinishing supplies like rubbing compound, polish etc then use that. There are specific things available for perspex or plastic, like aircraft canopies. You can also get specific kits for headlights which are expensive , but are OK if you don't have anything.
Whatever you use, buy a couple of sheets each of 1000 or 1200grit wet&dry paper and use that first with plenyt of soapy water in a criss-cross pattern. Masking tape around the wings and along the bumper are a good idea.
It's only a small area, so powertools aren't necessary; you should be able to do both lights from a really crap state to sparkling clear(mine look like new) in an hour.