Not in the actual park, but you could camp near the area. Have you been to the boulders? In my opinion, they're not really a camping or multi-day destination. Maybe look into Horse Flats for bouldering and camping.
Arroyo Seco behind Pasadena?? Why would you spend more than an hour there? Drive up the road and boulder at Horse Flat like Albert said. Much cooler, a thousand times better climbing and camping isn't too bad either. If you have a rope drive up the road a bit further and enjoy the routes at the Tunnel Crag.