Hi Jarrod,
Sandon just near Brooms Head is superb, but it is a National Park so if you have kids can be a bit hexy, do you want to stay in a caravan park or free camp. You can free camp on the river bank at Copmanhurst. Nymbodia canoe centre just out of Grafton is good. There is also a camp ground at Ashby but am not sure of its name, it is right on the river, you can fish hire canoes etc.
Willing to give more info if you can tell me what sort of camping you are after.
Barb