You should be able to do that by going into the Apps section of your phone's Settings, tapping the menu button and selecting App Permissions. There you should see a Camera option stating how many apps are authorized out of how many apps are requesting it (and also allow you to turn permission on/off individually.
Note that this doesn't include System Apps. For that, you need to go into each category (in this case, Camera), tap the menu button and select System Apps.