We have gone to Cocoa Beach many times. Several slightly different experiences each time so I will explain each of them. First time, we paid $5 to park in the attended lot just down from Ron Jon swim shop and right by on of the peirs. This was fine, but we found out later that that was rather high for parking. There was a bathroom and places to buy food and drink.
The next beach trip we just drove north on the main road through Cocoa Beach from where we had parked the first time and found a meter and plugged in quarters. Much cheaper but no bathroom within site. Still a great time and very clean and totally empty as it was December and the natives thought we were totally nuts!
Third and fourth beach excursions we went to the municipal lot which is north of where the peir was. I believe it was pretty near the block where there is a Waffle house and Burger King. JUst keep going down that street there and then drive on the coastal road. It's $3 to park there. They have bathrooms--not bad at all for a beach--a spray off area which is nice before an hour car ride, and I believe a snack area, though we brought lunch so I am not certain of that. This was early June and the crowds were not bad at all.
We have also been to Daytona--I don't like it. Cars on the beach is just not entertaining to me. I want to play in the waves and build sandcastles. And one year when we were there, there was a hurricane on the east coast so we drove all the way to Tampa and headed up along the coast after you take that really long bridge (okay, so I wasn't driving, my directions are bad.) Anyway, went to a municipal beach there that was pretty much the armpit of humanity and that was not good at all. From talking to others, our problem was we didn't go far enough north from where you cross over the bridge. I was just so sick of being in the car by then, DH knew I was going to kill him if we didn't stop soon!
If you need better directions, post and I can ask DH to post for me and improve on my borderline ones.