If you go west out of Pensacola Beach, you get into the Gulf Islands National Park (used to be Fort Pickens State Park). There are places, after you leave Pensacola Beach, where you are driving out the barrier island, and you can see water on both sides. We camped for several days in the National Park campground on the barrier island last November. Since we are seniors, we carry the lifetime senior's national park card, so we didn't pay the entry fee and our campsite was half price (only about $13 a day) for an electric only site. The campground is really nice, but a little bit tight. The new shower house/restroom facility was not open yet, but the old one was OK. The camp store was not very well stocked as it was past prime season, and as usual, it was a bit pricey.
There is a lot of military history to see at Fort Pickens and the old coastal defense artillery batteries, some of which were active through WWII. We spent a lot of time visiting the batteries because its not a "seen one, ya seen 'em all" situation. At Langdon Battery, go around back and look at the rear entrances (both ends and the center). There is a museum and nature center near Fort Pickens that is worth the time to visit. If you are a military hardware fan, the Naval Aviation Museum on NAS Pensacola (across the bay) is a great way to spend a day.
Check out
http://www.nps.gov/guis/florida.htm