Camp is a tough thing to define, one of those cases where everyone has some idea what it means but none of the ideas quite match. For some, camp just means "so bad it's good," and it's difficult to deny that taking the piss out of the show's technical limitations has been a major part of Who fandom for many years. By this definition, even things that worked at the time have become camp with the benefit of hindsight.
Other definitions focus on camp as a conscious decision to be ironically unrealistic rather than realistic. This isn't as commonly visible in Doctor Who as make-do tackiness, but I think a lot of people would argue that it's under the surface all the time, and occasionally emerges in obvious. When Tom Baker looks right at the camera and intones, "Even the sonic screwdriver won't get me out of this one!", or when the bad guys literally have zippers around the head of the people suits that are smaller than they are, that's pretty clearly winking at the audience in the manner of camp.