Camping is not a big thing in Mallorca and there are not many known campsites on the island. Camping rough on Mallorca is legal, but not very much encouraged. If you are considering camping rough then you need to take the Spanish regulations into consideration:

• You are not allowed to camp in urban areas.
• You are not allowed to camp in areas prohibited for military or tourist reasons.
• You are not allowed to camp within 1 km of an official camp site.

So you can't camp on resort beaches, although some tucked away beaches might be overlooked if you are discreet. You can camp almost anywhere in the countryside, providing you use some common sense. Whenever possible, try to ask the locals where might be a good place to camp, and try to get permission from the landowners.