There’s a farmers field that has been opening up just outside Lizard, easy walking distance.
There are a couple of campsites near Kennack Sands with off road short walks to the beach.
West of Lizard is one of my favourite parts of the Cornish coast, I often do a one night stay in the village car park as do quite a few others. Not permitted according to Cornwall County Council, I’m sure the local shops don’t agree.
The best way to see Cornwall is by walking the cliff path.