If you do not need external access, block port 80, 443, 554 (RTSP), and 21 (FTP) at your firewall.
If you own an IP camera, here is how to ensure you never appear in a search like inurl:view index.shtml camera: Inurl View Index.shtml Camera
Webmasters and network administrators can instruct search engines not to index sensitive pages using a robots.txt file. Most IP cameras do not generate or host such a file. As a result, search engine spiders like Googlebot treat the index.shtml page like any other public webpage—crawling, caching, and indexing it. If you do not need external access, block