The law also depends on how you "camp" as there is no legal definition of "camping" in legislation.
For example in NSW there is often a misconception that in a campervan, car or caravan that you cannot stop on the side of the road. As many of us know council often put up illegal signs and Rangers often try threats to move you on, however, in NSW the law is quite clear: where it is legal to park it is legal to stop. This right is protected under the Local Government Act in NSW; But this only applies to anything called a "Road" as defined in the Roads and Traffic Act but does not apply to parks etc. Basically if the
Police can book you for a traffic offence it is defined as a "road".
In NSW there are also provisions under law for resting in Travelling Stock Routes and other rest areas but you have to know where these are. Boat ramps etc are other areas where you can stop. But the real catchall and escape for almost all these problems in NSW is the phrase: "I feel I am too tired to drive" or "I don't feel
well enough to drive". Once said not even the
Police can force you to move on (although they have the power to issue nuisance "defect" notices to encourage you to move on). If you are in a dangerous place they do have the power to move or tow your vehicle!
I am not sure how other states apply so perhaps some may like to comment on other states. I know Tasmania is excellent for
free camping and I also know that the "no sleeping in vehicles" rules in Victoria have been successfully challenged several times.
In other countries i.e. NZ they have introduced the "self contained" camper system. Basically if your vehicle qualifies i.e. has shower,
toilet, internal cooking,
grey and black tanks it carries a green sticker and you can stop basically anywhere you want.
This is a really important thread that perhaps needs to be expanded into an ExplorOz guide for members.