CO Camping! (closISH to Denver)

So we just got the trail manor and have done some full hookup camping, and hate the typical "RV" scene. It just doesn't feel like camping! We feel we are ready to venture doing some dry camping So anyone have a few good campings that are within a few hours of Denver? We made our way even to colorado springs on a short notice trip but the campsite was horribad, but the area was nice.