Sorry, Wizard. The Hershey/Lancaster area can be considered a "resort" area this time of year; even though you're not at the ocean.
Your best bargain would be a state park but you'd only have electric. While you save on camping, you'll forefit that savings (not to mention your time) traveling longer distances to and from the attractions you want to visit because the state parks are not close by.
Here's a link to the rates for Mill Bridge Village Camp Resort that Sue previously mentioned:
Mill Bridge Village Camp Resort- Rates
As a comparison, here's a link to the rates for Roamers' Retreat:
Raomers' Retreat- Rates
Roamers' is a few dollars more, it doesn't have a pool and it's further east of Lancaster than Mill Bridge.
I might also mention that Mill Bridge Village Camp Resort was where the 2005 iRV2.com National Rally was held.