Adder Rock is nice, Flinders nearby is good too and ok for pets.
We prefer the ocean beach but unsure of the condition. Last we heard (easter) the beach was undriveable due to erosion, which is a shane cos we rate the beach campsites better than Fraser because they get nowhere near the amount of use... oh and pets and "cooking" campfires are also OK on the main beach too.
Our bookings were always with the big red cat and they give a discount to RACQ members