Yes, there are several options for camping directly on the beach in Florida, though they are relatively limited compared to campgrounds near the beach. Here are some of the key points about beach camping in Florida based on the search results:

– Peanut Island in Palm Beach County offers 17 tent campsites right on the beach[3]. Campers must arrange their own boat transportation to access the island.

– Anclote Key Preserve State Park near Tarpon Springs allows primitive beach camping, but you need your own boat to get there as there is no ferry service[2].

– Bahia Honda State Park in the Florida Keys has some waterfront campsites right on the beach for RVs and tents[2][4].

– Grayton Beach State Park in the Florida Panhandle has campsites within walking distance of the beach, though not directly on the sand[3][4].

– Many other state parks like St. George Island and Ft. De Soto have campgrounds very close to the beach, but the campsites themselves are set back from the waterline behind dunes or vegetation[1][3].

So while true beach camping is possible at a few locations in Florida, most of the highly-rated beach camping experiences are at campgrounds adjacent to the beach rather than right on the sand itself[1][2][3][4]. Accessing some of the beach camping areas requires having your own boat as well[2][3]. Overall, beach camping opportunities are somewhat limited but available for those seeking that experience in Florida[1][2][3][4][5].

Citations:
[1] https://www.reserveamerica.com/articles/camping/beach-camping-in-florida-a-guide-to-beach-rv-camping-in-fl
[2] https://www.reddit.com/r/florida/comments/ycatdx/does_anywhere_in_fl_allow_beach_camping/
[3] https://www.floridarambler.com/florida-camping/beach-camping-in-florida/
[4] https://www.orlandoweekly.com/orlando/here-are-the-24-best-beach-camping-spots-across-florida/Slideshow/33920389
[5] https://www.hipcamp.com/en-US/d/united-states/florida/camping/beach