The 1020 has an incredible camera for a phone. The Icon also has a great camera (from what I've heard) and the differences may not be that noticeable in normal situations, but the 1020 does a stellar job in the dark and with less noise and such, but is it worth waiting for if your contract is already up? Probably not. But if you want to wait, then you can. I'm sure Verizon won't be getting the 1020, but the 1020 successor, potentially. Depends on how things go now that Microsoft is at the helm of Nokia's devices business.
If you're looking for a really good WP camera on Verizon, the Icon is probably your best bet right now. I'm a huge camera-enthusiast and for phones, it looks like the Icon is what I'll be getting, since my contract is up and I'm due for an upgrade. But if your contract isn't up and you are able to wait, it may be worthwhile to get the 1020 successor on Verizon in the Fall if such a thing ever happens. It's always hard to tell with Verizon. AT&T is easy to guess when new WP are coming, but Verizon is up in the air.
However, both phones appear to have great cameras. Better than the average phone. I can't speak on behalf of the Icon yet, but the 1020 takes amazing phones. Although it's a bit slow because of how massive the photos are. So if you're looking to quickfire, it may not be the best unless you're using burst mode. 20 MP might be a little quicker, but according to reviews, it's still not so fast compared to other phones. But then again, other phones don't have as many MP.
I'm probably just rambling. I'm thinking out loud. Hopefully this helps.