Gulf State Park in Gulf Shores is usually my first choice, since it is closer to where I live. But, you have two options to get to the beach. At the end of the road leading to the park entrance, there is a parking area. Then you walk across the highway & down a boardwalk to the beach. The other way is to go to the state park beach pavillion which is a little further down the road but has free parking for people staying at the state park. The pavillion is very nice with clean bathrooms, several picnic tables, and a snack bar. We usually go there fairly early in the morning, pack sandwiches, set up our beach umbrellas and stay until after lunch then reaturn to our site. The campground has also recently completed their swimming pool (so I have been told). We have ressies for the last week of June there - depending on the oil slick.
Another campground is Henderson State Park, in the Destin beach area. This campground has 60 sites & is on the beach side of the highway, but there is a long boardwalk to walk to get to the beach & the beach cannot be seen from the campground due to the dunes & brush.
The only true campground that I know of that is on the beach (in the panhandle area) is Camping on the Gulf in Destin. (
http://www.campgulf.com/ ) I have stayed here before and though it is convenient to the beach, it has drawbacks. First, it is expensive, more than FW, rates dependant on how close you are to the gulf. The actual beach front sites have no sewer, but they do offer pump out for a fee. Second, since space is money, you are crammed in like sardines & sometimes can't even get your awning out. Third, they need to update their utilities, brownouts are common with low voltage at peak air conditionong times. Fourth, the bathrooms are not kept well cleaned, mostly due to a large amount of traffic, coupled with inadequate housekeeping. And, unless they have changed it, one of the bathhouses has toilets that are designed as squat toilets, they are the same height as a regular toilet, but has no seat (the first time I have seen anything like this in the US).