Looking at some websites, all I could find out was yes you need a permit to travel along one with cattle, but no mention anywhere of camping, let alone needing a permit to do so ?
You need
lawful authority to use them. eg a permit. If you are using the for recreational purposes can only be done between sunrise and sunset.
Camping on Crownland is only permitted in areas designated for camping
Additionally local council by-laws need to be considered
LOCAL LAND SERVICES ACT 2013 - SECT 72
Unauthorised uses of travelling stock reserves
72 Unauthorised uses of travelling stock reserves
A person must not, without lawful authority:
(a) enter or remain on a travelling stock reserve, or
(b) occupy or make use of any travelling stock reserve for any purpose, or
(c) engage in any activity that damages, or is likely to damage, a travelling stock reserve.
Maximum penalty: 50 penalty units.
LOCAL LAND SERVICES ACT 2013 - SECT 74
Authorised use of travelling stock reserves for recreational activities
74 Authorised use of travelling stock reserves for recreational activities
(1) A person is authorised to use a travelling stock reserve (whether controlled or managed) or part of any such reserve on any day between sunrise and sunset for any recreational activity prescribed by the regulations, subject to this Act and any conditions prescribed by the regulations.