Is it possible to camp on the parking lot at Kirkjufellfoss? Igor
No, it is not. Absolutely not.
The only legal camping options with a vehicle are at official campsites or on private land with the explicit permission of the owner. Everything else is illegal.
Nope. That is wild camping which is illegal. Why not go to a campsite?
You can camp at Grundarfjörður if you are coming in the summer: http://www.west.is/en/inspiration/services/grundarfjordur-camping-ground