2hrs travel you can be
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Jervis bay and most of the south coast is locked up by the greens many years ago......end of story.......go north if you want beaches.
Bendeathra is a good spot,but no dogs.
There are some state forest areas Bateman's bays wise inland on river/creek frontage.
A local spot with shoalhaven river frontage, council land, and water fall close to Nowra......dog would be OK.
It is now getting well known by locals and the few camping spots are taken in holidays, but is OK on off weekends.
Pm me if you want to know more about the Nowra site.
Ron
There's the proper campsites in the watagans which are quite nice when not too packed, and as it's state forest you can take a pet. The Pines and Basin campsite are both nice.
There are also many tiny campsites on bluffs overlooking the valleys that can be reached by random unlabeled roads (finding them is half the fun).