Please refer to the site-selection video to better understand how to avoid condensation.
Try to avoid camping overnight in cool, damp environments such as river valleys, meadows, marshes and next to water. If possible, choose an elevated campsite with a bit of a breeze and preferably under a tree canopy.
When condensation occurs, the best you can do is to dry off the inside of your shelter as thoroughly as possible before you take it down–a sponge or pack towel is useful for that. Give your shelter a good shake before you pack it up and use snack/lunch breaks in the sun to drape the fabric over a bush, especially if you can take advantage of breezes to accelerate the drying process.
Here’s a fun little tool for playing around with dew point: http://www.dpcalc.org.
Note that the dew point temperature increases as the humidity goes up. Surfaces can actually be colder than the surrounding air—note frosty roofs and windshields on morning when the temperature never hits freezing—due to radiational cooling. That’s why it’s often best to camp under trees since the foliage traps heat and keeps your tent canopy warmer.