We live in Richmond (Glen Allen) and there are not many options. Your best bet is Americamps in Ashland. Nice park, friendly operators, nice fenced dog exercise area. Right off I-95 so you can be in downtown Richmond in 15 -20 minutes. There is another option on US 1 also in Ashland called Kosmo Village. Kosmo is basically a gravel lot with full hook up pull thru sites but there are no facilities (no showers, no grass, no dog run).
As noted there are plenty of options in Williamsburg but that would put you pretty far from downtown Richmond, especially if you are going there every day for a few days.
Since Americamps is the only good RV park in the Richmond metro area and fills up during special events, I would make reservations now.
'07 Country Coach Allure 470 Siskiyou Summit #31578, Cummins ISL 425; 2014 Ford F150 toad; Air Force One Toad Brake.
Glen Allen, VA; Smith Mountain Lake, VA.