For camping near Idaho Falls, look no further than Goldbug Hot Springs. Access to Goldbug Hot Springs hot springs requires a hike from the trailhead which starts at the end of the county road. The first 1/4 mile of the trail passes through private property with public access provided by an easement. Dogs must be leashed while crossing the private property. Please protect access to the hot springs by respecting private property.
This is located between Salmon and Challis in Idaho. The turnoff is near mile marker 282 on highway 93 near Elk Bend, Idaho (unincorporated). There is a short dirt road (heading east) with a trailhead and parking area at the end. You are not allowed to camp in the parking area. There is a pit toilet here. The beginning of the hike is on private land and consists of switchbacks. Once the trail levels out, you go through the fence and you're on public land. The first camping spot is not much further just across the bridge. There are several other campsites and one more pit toilet all within about 1 mile from the trailhead. Once you cross the second bridge there aren't any more campsites left and it's a little over a half mile up to the hot springs. This is a fairly popular area.