It isn’t easy (or cheap) to claim a spot along Tahoe’s glorious west shore. But here you can swim and sunbathe at Lester Beach, marvel at Balancing Rock, or simply ogle Tahoe’s famously blue waters. Insider tip: Reserve ahead to nab beachside ($35; sites 141–165).
Source: http://www.sunset.com/travel/california/best-campgrounds-california-00400000044084/
The hike takes roughly 4 hours to go up and 3h to go down. It'd be also great to stay the night at the top to enjoy the stunning views with the sun setting and rising.