Nice big sandy beach with rocks and small sandy bays at the southern end. Walk up the beach north a bit to keep away from the swimmers etc (only in the summer).
Drive south of Stavanger (approx. 40km) towards Egersund. Get to Ogna Camping, NW of Ogna, which is close to the main road. Park at Ogna Camping (10 Kronors to park) and walk over the dunes.
No rules, but the beach can get busy at the southern end with swimmers (from the local camp site) in summer so stay clear to avoid upsetting people. Parking costs 10 Kronors.