We camped at Palo Duro State Park a few days ago. There are 3 RV campgrounds in the canyon - Sagebrush, Hackberry and Mesquite. Hackberry is 30amp and water but I think it was closed. Sagebrush and Mesquite are 30/50 amp and water. None have sewer connections. We camped at Mesquite which at the end of the canyon and the most remote. Beautiful area / great hiking. There are also many primitive tent sites along the main road in the park.
Only private CGs have full hookups in the area, and are not in the State Park or the Canyon, but are closeby. Palo Duro RV park is about 15 miles away. There is also one closer with zip lines and horseback rides, but I didn't catch the name of it. Don't know about hookups there.
Where ever you stay try to get down in the canyon for sunsets or sunrises if possible - very impressive!