.....looks to be slim pickins. There's 1 campground in nearby Milllersville (KOA) and 1 in Lothian to the south.
If you are military (active or retired), DoD Civilian (active or retired) or National Guard/Reservist, then the Annapolis FamCamp @ the Annapolis Naval Station is available. Reservations are accepted....but, there are only 14 sites. Rate is $16/day. E/W only.
http://www.usna.edu/MWR/gearrental.htm
If not eligible....nevermind. BTW, I used to live about 2 miles from the FAMCAMP, in the way-back past. Sits right next to the golf course...my old hill training course
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Sandy Point State Park is about 10 miles from Annapolis, but they forgot to think of campers. Just day users. It's locked down overnite.
Denny_A