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Hawaii's State Park system offers camping in a number of parks on five islands. For a complete list of parks and their amenities, please visit the DLNR website. There you may download a permit application (in PDF format) that lists all camping areas. We do charge $5 per campsite per night for all parks, except Na Pali Coast State Park on Kauai. Camping fees for Na Pali Coast State Park are $10 per person per night.
The state Forestry Division offers camping for free within forest reserves on all islands. Permits are required, and can be issued by the Division offices on Kauai, Oahu, Maui, and Hawaii. Unfortunately, there is no available summary of Forestry camping areas by island. You should contact the Forestry Division for more information, at (808) 587-0166.
Kalaeola industrial park, formerly NAS Barbers Point, used to have a pretty nice camp ground. Don't know if this area of the base has been ceded over to the state yet or not though. You may still need to have some affiliation with the military in order to use it.
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