Can you get malware on a iPhone and can it access your camera and contacts

No, and No.

There is no known malware that can affect an iPhone, and no known method of accessing anything on it, much less the camera or any apps.

Those types of emails are always always scams.

You can delete and ignore them.

You can also report it to Apple by forwarding the email to reportphishing@apple.com

See here for details: Avoid phishing emails, fake 'virus' alerts, phony support calls, and other scams - Apple Support

Hi Manny14161404,

This is a type of advertisement, designed to scare you in order to have you lose money at your expense. My suggestion, delete it. Avoid phishing emails, fake 'virus' alerts, phony support calls, and other scams - Apple Support

Malware is unwanted software in your device. Since you use your iPhone the only software you can download is from the App Store. Because Apple monitors the applications in the App Store, then you can be rest assured that the Applications, or software, are/is safe.

If you download an Application that requires access to your camera (I.E. another photo application) or your contacts (I.E. another calling/texting application) then that application will have access to your information. But most likely, securely.