As far as I know, camping is not permitted in the car-parks or within 1 hours hike of the tourist spots.
However, I have also heard that, unofficially at least, as long as you camp where no one can see you, like down at The Prom and out of sight of the lookout, and there are not too many people and camp in a sensible manner, then the ranger will turn a blind eye.
But best to check with the ranger first!
There is also a CAWA trip to Kalbarri over the weekend and we will be camping at a caravan park in Kalbarri. If you’re a CAWA member, you’re welcome to join us there. Contact Ash on 0405 763 847 for more info.