I second Manor Farm East Runton, 3 different sections, one specifically for campers with dogs, Norfolk Coastal Path runs right through the site so lots of lovely walks, beach within walking distance, as is Cromer town. Toilets and showers very clean, and its reasonable (£13 a night I think). We loved this campsite and will be going back
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Sandringham site is very dog friendly, and they will help you find a site near to one of the many gates into the forest dog walks. Not cheap, and not near a beach, but very short driving to some of the nicest beaches in the area!
shrublands farm northrepps 5mins drive into cromer 2 showers and 1 toilet for both male and female plenty of walk of the site you can walk to overstrand beach lovely local village pub which let dogs in 5 mins walk.£15 a night with electric 2 adaults and 2 kids.
Don't forget to leave a review of the campsites you have visited this year or last!