You would have better luck asking help in forums that specialize in hardware hacking.
By iCloud, I reccon you mean that the phone is iCloud locked on the 'Hello' screen?
If so, it is possible to bypass the lock on older devices such as yours, but it requires quite a deep knowledge of hardware hacking, I'm afraid.
If your device's version is old enough to support a direct jailbreak through a cable, it should be possible to bypass the lock.
You would need to boot a specific jailbreaking OS and then use that in order to jailbreak your device through a cable. You would then have to run a script on your PC that sends a payload through the cable, that would then bypass the lock.
Sorry to break the news, but unless there's anything super important and you're not really familiar with these things, I'd personally just ditch the phone and move on. It's quite a big of a hassle, if you've not done such things before, as this isn't an operation that is a 'plug-n-play'.
