Walter Pandiani scored the only goal after only four minutes and the home side hold on to lead in a match that saw three players sent off including Javad Nekounam.
Camacho aligned the same side that almost surprised Real Madrid two weeks ago with Shojaei playing behind Pandiani.
And it paid off, in the fourth minute, Shojaei perfectly crossed for Pandiani, who sent an unstoppable header past Aoute to give the home side a precious lead.
Mallorca began to dominate and Robérto was forced to a great save against Juan Arango.
Adruiz almost levelled the score in the 32nd minute but his header missed the goal by inches.
On the hour mark, the visitors suffered a blow when David Navarro was sent off for a challenge on Shojaei.
The men advantage gave Osasuna a little bit a breathing space and 15 miutes later, they should have doubled their lead.
And they should have taken the lead 15 minutes later when Nunes brought Pandiani down inside the box.
A questionable call from the referee to say the least. Captain Patxi Punal stepped up but his effort from the spot was saved by Dudu Aoute.
Aoute saw red three minutes later when he brought down Juanfran outside the box.
Moments later, another player was dismissed, this time Javad Nekounam after collecting his second booking in 10 minutes.
Camacho's men held on to their advantage and with this victory moved above Mallorca and Espanyol into the 18th place in the table.
Masoud Shojaei, who was subbed off after 83 minutes, displayed one of his better performances of the season. The 24-year-old was very active and collected his fourth assist of the season.
His compatriot Javad Nekounam however had an average display, below what is expected from the Osasuna star.
