The state park near the Fruita entrance to Colorado National Monument is the James Robb unit of Colorado River State Park. We have stayed there multiple times when visiting the Grand Junction area. Some FHU sites, some W/E sites, all paved, and a number with nice shade. We really like it, especially as it is a easy day's drive from Denver.
Farther south on US 550, we have also stayed many times in the Elk Ridge Loop at Ridgway State Park. Paved, 30/50A only sites in the trees with scattered water faucets and a dump, but the loop below the dam has FHU sites. Great location to camp in mid-late Sept. for photographing mountainsides of gold aspen trees in the San Juans around Ridgway, Siverton, and Telluride.
If you want additional campground and sightseeing suggestions in western Colorado, see my blog
HERE.