Free camping overlooking Sedona from the outskirts of Flagstaff
This campsite is definitely out there. You'll take a dirt road into what seems to be a thick forest.
Tell your GPS to put you on Woody Mountain Road in Flagstaff, AZ. Once you are on this road set your speedometer and follow this road for about 23 miles. Do not make any turns off of this road, there will be lots of off-shoots and places that look enticing, but if your goal is to camp on the edge, stay linear. Once you hit the 23 mile marker, you will see the trees break on your right hand side, from here this is what we call the "Edge of the World" pull off at any designated site and enjoy!
I lived in Flagstaff for three years, and this spot used to be a secret, but it has become more and more well known. On weekdays you'll have no problem finding a spot, but if you're planning to hit this on the weekend, the earlier the better! It takes about 45 minutes to reach the sites from the pavement.
The best part is it's free and the views are unreal!
Also there isn't any cell service here untill you reach the edge, so come prepared! Lastly, I'd say you'd want a 4x4 to get out here.