The Yelgun Rest Area is about 25km North of Byron Bay. It is quite a luxurious camping area, where you can stay in your van at no cost. Be aware that there are signs, saying that it is prohibited to camp. Anyways, it is a rest area, so you can always nap for a few hours, before driving on or driving back and forth to Byron Bay. Therefore it is "ranger save" as long as you are not permanently camping on this rest area.
The camp spot offers nice toilets and BBQs, hell there is even a playground for kids (and young adults :) ). You can easily sleep here without having to worry about the ranger. You are also close to the town of “South Golden Beach”.
Find the exact location, directions and a street view photo below.
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As usual, we recommend to NOT camp right in Byron Bay. There is loads and loads of backpackers wanting (and trying) to sleep in cars and vans. The city, however, is trying to get rid of free campers.
Anyways, there are many free spots in the area, where you can sleep for free. It is definitely better to drive a few kilometers (which is nothing in Down Under) and be save. During the day you can drive to Byron without any hassles, spend the day at the beach, have showers and BBQ there and noone is stopping to park your car there and hit the city at night.
Just don't drunk drive and leave no waste! Safe travels!