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Sites with direct access are very few and far between and so are dog friendly beaches in Cornwall in summer.

Magic Cove at Mawgan Porth allows dogs, so does the beach which is a level 300 yard walk away.

If you're going out of season:

Porth Beach Touring Park - again not on the beach but the beach is just across the road from the site (100 metre walk)

Gwithian Farm, Hayle - you can see the sea, but the beach is across the sand dunes

Churchtown Farm, Hayle - same as Gwithian, walk across dunes.

Have a look on google maps/satellite - I often do that, it's surprising what you can find when you pan around the coast and find campsites you never knew about!

Dafarn Rhos Caravan and Camping Site it is at LLigwy Beach Anglesey.

It is lovely you have a key that gives you direct access to a wonderful beach and very dog friendly. 

If you read reviews some people are put off by the strict rules - dont be.  They make it a very most quiet and enjoyable site.  Wardens are lovely and very helpful.  Toilets are always clean as is the site.  There is a field which they try and keep for adults only if possible.  Lots of lovely walks from site.