We spent a couple of days at Woody Head Camping last year - we would have stayed longer but had crappy weather. It's located just outside of Iluka, which is across the river from Yamba.
It's pretty much right on the beach front, and caters for camping and caravan's. Not 100% sure about camp fires, but I think at the very least there is a communal camp fire pit - there may be individual camp fire pits as well, can't really remember.
Nice spot, will be camping there again if we ever happen to be in the neighourhood.
(We were there mid week so there were plenty of available sites, but I think it can be busy on weekends, so you may want to book ahead).