Where to stay after dark near Pinnacles

I had to look up which Pinnacles you were referring to, Michelle. I was going to recommend Talbotville (Vic High Country), just a quick jaunt down Billy Goats Bluff track :-) Hardly a quick jaunt from Lancelin. LOL

Cheers

Little shack community of Grey is a bit south of the Pinnacles, but still illegal. I think Sandy Cape is the only legal camp spot outside of the towns.

Loveland Kangaroo sanctuary. Not far...its part of the Youcamps farm stay assoc.

Push come to shove there is a yha/backpacker in cervantes

Considering all the "restrictions in place" its probably best option apart from staying at CP -unless your happy to simply sleep in swag under a awning or collapsible shelter (oztrail type thing)

And price wise when you compare a CP vs backpackers there basically the same price

Hi Michelle, the nearest 'legal' is the 72 hour camping at Tuarts Reserve, about eight or nine kilometres from the Indian Ocean Drive, heading north east along Cervantes Road.

Why not the Cervantes caravan park?

You might find this info helpful from the local council
https://www.dandaragan.wa.gov.au/camping-information.aspx
I stayed at Hakea reserve (-30.460308, 115.332180) a decade or so ago ... was a bit off the road and there were a couple of shelters with tables ... but otherwise just somewhere to park up for the night before tackling the drive back to Perth.
From google maps Tuarts Reserve (-30.420541, 115.136726) looks like a better option.