There are national parks and state parks. From my personal experience boondocking, state parks have more opportunities for camping. Most are set up for primitive camping and boondocking. Don't expect concrete pads and full hookups. Most charge a small fee from 50 to 200 pesos. Some that do have amenities include hot showers, palapa with a kitchen sink and counter with a grill and maybe a chance to connect a light bulb outlet connector to use basics such as lights, water pump, stereo, etc. We've stayed in state parks in Nuevo Leon, Tamaulipas, Durango and Hidalgo states.
I forgot to include balnearios and some club campestres.