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My wife is from St. Paul, and we've gone hiking in many of the nearby parks... no camping though.

Last 2 parks we went to were Banning State Park (about 90 mins north) and Frontenac State Park (about 90 mins southeast). I love Minnesota, I don't think you'll go wrong anywhere.

I don't remember the campsites at Banning, but I remember it was a very nice park with good trails and a waterfall. We walked through the campsites at Frontenac, though I don't remember what the RV hookups were like. Also a nice park, kind of more "long and skinny" and along the river. Great views in the park, though not from the campsites. As long as the RV sites are good, I think it'd be a tossup between whether you want to go north or south. I usually prefer north, just because the landscape is more wooded and interesting.

Having lived and visited in Norther Minnesota for most of my life, I can tell you there are a lot of parks and place to camp along the north shore of Lake Superior. Head north of Duluth along highway 61 to Two Harbors for a camp ground and on up along the shore to Gooseberry State park or Sprit Rock Light House (a few miles apart). You can go further north to Silver Bay for more camp grounds and up to Grand Marie. Two Harbors is a 3 hour drive from Minneapolis St. Paul with Gooseberry (hiking/camping there) another 45 minutes (not including a stop for bio or lunch). I would suggest googling "Explore Minnesota" for more information. You might want to see if you can pre-reserve a camp site, because this is a popular trip and activity.