All beaches listed below, with the exception of Henderson, are free (some require paid parking).  Dogs are not allowed on any Destin beaches (they’ll fine you).

Henderson Beach State Park

Arguably the best beach in Destin- some say in America!  Lots of parking.  Picnic tables, playground, boardwalk, nature trail, a pavilion, campgrounds, and beach wheelchairs, too!
17000 Emerald Coast Parkway
$6 per vehicle

Norriego Point

Just past O’Steen on Holiday Isle, the views are great!  See boats in the harbor, East Pass, and the Marler Bridge.
Holiday Isle
$ Parking spaces

O’Steen

A long walk, but a hidden gem if you’re up for it!  Water shuttles from the Emerald Grande as well as car public access from Holiday Isle.  This is how you get to the jetties for fishing!  Very limited parking.
Holiday Isle
$ Parking spaces

Princess Beach

Lots of parking on the side of the road.   You’ll always find a good spot on the beach.  Downside, no bathrooms or showers!
Oklaoosa Island
(they ask that you register your vehicle online)
Free parking, sand mostly (may need a 4 wheel vehicle in tourist months).

Calhoun Beach

Can be crowded, but always fun!  Near Back Porch Restaurant.
Scenic 98
Free parking

June White Decker Park

June White Decker Public access is located adjacent to Calhoun access. The park has public restrooms and bike racks.
1950 Scenic Hwy 98
Free parking

Shirah Street

Very limited parking.
Shirah Street @ HWY 98
$ Parking spaces

The Shores at Crystal Beach

Limited parking in busy season.  There are picnic tables, public restrooms, and showers.
2966 Scenic Highway 98
$ Parking spaces

Crystal Beach Drive

Very private, very hard to find a parking spot in season!
Crystal Beach Drive @ Hwy 98
$ Parking spaces

Barracuda Street

Very limited parking.  Restrooms.
Barracuda @ Hwy 98
$ Parking spaces

Pompano Street 

Parking is better here, but not as great as at Henderson.  Amazing beach!
Pompano Street @ Hwy 98
Free parking

Tarpon Street

Parking is limited.  Great in off season.
Tarpon Street C Hwy 98
$ Parking spaces

James Lee Park

Lots of parking.  Restrooms and a shower!
3510 Scenic Hwy 98

Pompano Joes

There are restrooms and outdoor showers.
2375 Scenic Gulf Drive
Miramar Beach, Florida 32550
Free parking and lots of it!