You can do several things to your cooking apple tree to encourage the fruit to grow lower - but it will take a couple of years, so be patient.
First, as Wardy says, the tree needs to be opened out and any dead, diseased, damaged, crossing and touching branches removed. Do this with a good pruning saw in January/February during the dormant season. Then look at the tree.
If you have long branches with few or no fruiting areas along the bottom length, I suggest you cut back about a third of these, cut just above a node or joint. Seems severe, but will reap benefits. On the second third, rub your fingers along, and where you see nodes, take a sharp knife and make an incision just above each node, about 1/4" deep and about 1 1/2" long. This may encourage fresh growth from these points.
On the final third of the branches, reduce smaller side shoots by around a third. Some cooking apples are a mixture of spur bearing and tip bearing - the fruit either comes from knobbly little spurs over 2 years old, or from basal growth on one year old shoots. The pruning done this spring will reduce the fruit yield but pay dividends long term.