The group says the refugees speak of children dying of hunger and of digging new graves daily.
The doctors reached Bama yesterday following a military convoy from Maiduguri, the Borno state capital 70 kilometers (45 miles) to the northwest.
They said "a catastrophic humanitarian emergency" is unfolding at the camp of 24,000 people, with one in five of the 15,000 children acutely malnourished.
Boko Haram militants seized Bama in September 2014 and Nigerian troops recaptured it in March 2015. Nigeria's military has greatly curtailed the 7-year-old uprising but the insurgents still attack remote villages, making farming dangerous.