A different version of camping for a family vacation is to camp close to family entertainment areas. Examples of these would be to camp in areas around Disney World, Disneyland, Dollywood, or close to towns such as Branson, MO, Washington D.C., Gatlinburg, TN, or Hershey's Chocolate town in PA just to name a few. You can still have the fun of camping out with your family and do the normal fun camping things but you also can spend part of your vacation taking the kids to some major attractions. It's a win-win in several ways, you are vacationing but your costs are going to be lower than staying in hotels for one. You also can spend several days out in nature but still give the kids a memorable time at a major family attraction. Everyone has fun but  your not doing the same thing everyday. There are numerous places to go, these were just a few examples. 

Do your homework on the campgrounds you are considering for these types of adventures. You want to make sure the campground has all of the amenities you are needing and wanting. Also check their campground rules as far as how many people, tents, pets, etc. are allowed. 

My favorite camp sites are still out in the middle of nowhere but National Parks run a close second while State Parks are always great. A different type of vacation now and then just keeps life interesting. Be Safe and have Fun out there!