Newport State Park is a great place to camp in Door County without spending the night on top of your neighbors as you might at Peninsula State Park, and without spending a fortune on ferry rides as you would when visiting Rock Island State Park. (Which I still highly recommend, by the way, despite the high cost of getting there. Read more here.) The frequently intersecting trail system can make a hike as long (or short) as you want it to be through a series of loops, and the terrain is flat enough for any hiker, including children. Rocky shorelines provide rugged hiking and scrambling for more adventurous hikers.