One of my favorite campgrounds is San Elijo State Beach in California. It can be tough to get a reservation, but it is worth the effort. Several of the campsites are on a cliff overlooking the Pacific Ocean. It is a gorgeous view!! There is a long staircase down the cliffside where you can access the beachfront below.
Here is the link to their website:
Google Map Aerial View If you set Google Map for satellite view, you can zoom in very close and see the campground real well!