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Ft DeSoto
Ft DeSoto! Hands down! You have to either...
book months in advance,
get lucky and find a site on short notice, or
go to the website at precisely 7am (eastern) on the morning you want to camp. You can only book this way for the one night unless you do it on fridays, in which case they let you book Friday and Saturday night at once.
What Klara said. they hold 10% for walk in/online. you can do primitive camping on Shell Key and Anclote Key but you need your own water transport and permit. Same goes for the spoil islands in the intercoastal, but you dont need a permit for those.
Shell Key permits are free and available on this website: http://www.pinellascounty.org/forms/shell-camp.htm
I camp here from my paddle board often.
You could volunteer for Fort De Sota n camp for free. I qualified. It is an easy background check. They are always looking for volunteers at the state parks. There is also a lot of primitive free camping near Tampa. KOA is near Largo
Where is the primitive free camp sites ?
If you want to be in town there is a KOA campground right on the Pinellas Trail in Seminole.