Dallerup was born in Aalborg, where she started dancing at the age of two and a half when her mother took her to her first class. She won the Danish Junior Championships at the age of 12. Dallerup later moved to London, United Kingdom, where she lived and competed with Brendan Cole, who also became her fiancé. In 2003, Dallerup and Cole were placed third in Latin American at the UK Closed Championships, and in the top 12 of the world professionals at the open British championships. From 2004 Ian Waite has been her professional dance partner and they were placed second for Latin American at the 2005 UK Closed Championships and in the semi-final of the International championships at the Royal Albert Hall in 2004.
Dallerup is best known to a wide audience for her appearances on the BBC's dance competition, Strictly Come Dancing, on which she appeared as a professional Dancer in the first six series from 2004 to 2008. She won the show for the first time in 2008, partnering Holby City actor Tom Chambers. She subsequently revealed she would not be returning to the show for the 2009 series claiming that she had made her decision before she won with Chambers. She did however go on tour with Strictly Come Dancing in early 2009 with 2008 partner Tom Chambers.
In 2005, Dallerup co-hosted the CBBC show Dance Factory with Nigel Clarke and Reggie Yates. During her time as Gethin Jones' partner on Strictly Come Dancing, she made multiple appearances on Blue Peter. In 2008, she appeared as a contestant on the second series of The Underdog Show, finishing in third place.
Dallerup joined a modelling agency at a very early age in Denmark. In 2006, she was the face and legs for Aristoc stockings.
On 1 September 2007, Dallerup represented the UK, the host nation, at the first Eurovision Dance Contest, placing fifteenth out of sixteen couples with 18 points. In 2009, she was a judge on Skate Nation for BBC Two and CBBC.
Dallerup married Hollyoaks actor Kevin Sacre on 29 July 2010 in a ceremony in Ibiza and the couple live between Los Angeles and Walton-on-Thames in Surrey.
Watkins publishing house published Camilla's first book "Strictly Inspirational" in January 2015. It's a self-help & autobiography based on the premise, how I learnt to Dream, Act, Believe to Succeed. Available in the UK and US. Her second self-help book "Reinvent me", also published by Watkins, is available on Amazon and out July 2017.
She will appear as a judge on the New Zealand version of Dancing With The Stars for its seventh season in 2018.