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Lido is the closest and easiest to reach from Venice. Note that many of the beaches are "owned" by the hotels and they charge significant fees to use the beach. There is a public beach on the southern part of the island.
As Euro mentioned, the best looking beaches are located on Lido which is easily reached by vaporetto. That being said, you might want to think twice before swimming off of these beaches (or anywhere else in the Lagoon) since the waters are often very very polluted.