Short answer is no.
Close to town there are some open space spots across from the soccer fields by the entrance from the heber / kamas side. come towards town from the highway and turn left on a paved road. A gravel road goes off to the right. there are a few draws over there where occasionally people camp. Don't make a fire and I don't think the sheriff will hassel you.
For pay sites, they have them at Jordanelle at the lake and below the dam.
There also is a pay site on the frontage road by kimball junction.
If you go through Kamas, there is alot of forest and lots of pretty undeveloped and developed sites.
If you have a bivy sack, you could park almost anywhere and walk 100 yards into the woods and be alright. (PM me if you need some ideas on that front.)