Though Denver is a city, a surprising number of state park campgrounds and RV parks can be found, offering easy access to the vibrant downtown, museums, and shopping in the Mile High City. Chatfield State Park and Cherry Creek State Park are two year-round public camping options, offering a mix of full hookup, electric, and basic sites. Amenities include hiking trails, laundry facilities, and free wifi at the visitor centers. You can also explore different options for camping near Golden on Hipcamp.