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:

http://www.parks.ca.gov/?page_id=662

Google Map Aerial View   If you set Google Map for satellite view, you can zoom in very close and see the campground real well!