Yes, although somewhat rare, they do happen. And most importantly, because of the weight and structure of a camel, they are usually deadly.
Some examples from recent years (all sources in Hebrew):
October 1st, 2019: 2 injured in a collision with a camel on route 316 at the entrance to Hura, the driver died in the hospital a week and a half later.
October 1st, 2019: 2 people injured and 4 camels dead in a collision between a car and a heard of camels on route 40 in the northern Negev. A quote from the article talking about the dangers of such collisions, quoting Adam Sela a paramedic that treated the injured:
It's really a miracle, I don't remember accidents with camels where the passengers stayed alive. ... In most cases, they are either killed or seriously injured. They were saved from certain death. Hitting a camel weighing several tons can end in death. You just need to look at their car and understand how this could have ended in a tragedy.
"זה ממש נס. אני לא זוכר תאונות עם גמלים שהנוסעים יצאו בחיים", אומר ל-mako פרמדיק איחוד והצלה, אדם סלע, "במרבית המקרים הם נהרגים או נפצעים באורח קשה. הם ניצלו ממוות בטוח. פגיעה בגמל ששוקל כמה טונות יכולה להסתיים במוות. רק צריך להסתכל על המכונית שלהם ותבין עד כמה זה יכול היה להסתיים בטרגדיה נוראית".
January 13th, 2018: 13 years old boy killed and 8 injured in a collision between two cars and a camel next to Nafkha Penitentiary.
September 4th, 2008: a driver is killed in a collision with a camel next to Yeruham.