All three locations are in my Top 10 camping spots in Qld.
Drier climate, cold in winter, nights can be fresh in summer, granite boulders, interesting variety of walks, flushing toilets, H & C showers, no firewood, fires restricted to BBQs, take out your own rubbish.
The creek when running well is very refreshing. Does tend to stop running after long dry spells.
Many wineries nearby. No 4wd required. Camping $5 pp pn or 20 for a family
Lamington N.P. http://www.derm.qld.gov.au/parks/lamington/index.html
Rain forest, summer storms can be very wet, wide range of walks, leeches, options of Binna Burra and O'reilly's campgrounds. Offering a variety of facilities. No 4wd required. Costs depend on which ground you go to.
Rainbow Beach: 2 commercial campgrounds in or close to town. Inskip Point( 10 klm north) has camping on the edge of the beach. May require 4wd for some parts of the beach camping areas. Reasonable beach fishing.
Rainbow Beach has classy hotel and good value clubs.
4wd required if headed up or down the beach or over to Fraser Island.
Day tours available
Inskip is $5 pp pn or $20 per family..Fires permitted...BYO firewood.http://www.derm.qld.gov.au/parks/inskip ... index.html
Not knowing where you are travelling from...But Brisbane to Daintree is approx 3800klm return.
You would want to stop at each of the above more than one night.
hope this helps...have a great holiday