Well, they don't have the amenities of transportation, but we prefer First Landing State Park, there by Fort Story, just a few miles North of Virginia Beach. You've got over a mile of beach, pretty much, all to yourself and no crowds to deal with. And you can hear the echos of the military as they do their morning PT in cadence. (brings back memories of when I had to do that!)
But there again, everyone has different likes and there's no wrong way to go camping either. Personally, I don't like commercialization. But if you don't like commercialization and want some really nice beach experience, First Landing State Park is a great place to park the RV a few days.
You can still very easily drive into Virginia Beach and hitch a ride on public transportation.
(we were on site 175).