Sorry I’m going to get geeky here but …
SSH is your friend. (or VPN). You put the camera on your local net and don’t make it accessible from the internet directly. You setup an SSH server. Some routers can do this otherwise you need a PC always running Win/OSX/Linux. You set up dynamic dns. Most routers can do this. You then SSH tunnel into your local network to the IP camera. Too much to go into here. Maybe someone should ask this question on a stackexchange site?
Clearly there’s a market for a less geeky solution (although as a geek I have a problem trusting non-open source networking stuff).
