For many city dwellers, a weekend camping trip can seem daunting given the hours of highway driving usually involved. Urban parks are good for a short respite from the concrete jungle but not much more. This problem has led some who yearn for the great outdoors to organize rooftop camping sessions or to sleep in parks illegally. Luckily, a handful of major cities have access to real campsites nearby. These spots are ideal for locals who need a quick getaway or travelers who want both urban and outdoor adventure on their holiday. Urban camping isn't perfect—you can't expect a breakfast buffet or a luxurious shower in the morning, but it will save you money, and you'll get to experience "city life" in a whole new way.

Greenbelt Park, Washington, D.C.

Online reviews marvel at how close Greenbelt Park is to the nation's capitol—just 12 miles to the northeast—and many suggest adding it as an overnight stop on a trip to D.C. Campers can take advantage of nine miles of wooded hiking trails and then visit the city by car or train for some patriotic sightseeing.

Gateway National Recreation Area, New York City

Some of the most convenient camping locations for New York City residents are located in the Gateway National Recreation Area, an assortment of public lands spread around the bay south of New York. Sandy Hook has beach camping with a full view of the famous New York City skyline across the bay. Floyd Bennett Field offers fishing, kayaking, and hiking among other attractions. The most urban of the parks, Fort Wadsworth, is nestled under a bridge on the tip of Staten Island and easily accessible by bus.

Honolulu

Most people travel to Hawaii for its beaches and natural beauty, so why compromise and stay in an air-conditioned hotel? Honolulu’s seventeen campgrounds offer campers 24/7 beach access in walking distance of civilization if you’re in the mood for a fancy mixed drink after a long day in the water.

Harbor Island, Boston

The islands dotting the Boston Harbor are rich with natural beauty and maritime history. Four of the islands, reachable by ferry or water taxi, have public campsites. Campers can spend time swimming, hiking or taking a boat tour of the lighthouses, including Boston Light, the nation’s oldest.

Rob Hill, San Francisco

Still fresh from an extensive redesign in 2010, Rob Hill Campground is located in the Presidio near the northern tip of the city. The two public campsites, each large enough for a group of 30, overlook Baker Beach and are surrounded by eucalyptus trees. The campsites are often used as part of a program to introduce city kids to a night under the stars.