It is a little tough to find a campground close to Bridgeport. Riverdale campground in Clinton, CT might be a little closer, and it is not far off I95. Nicely maintained campground, can be a bit of a "party" campground on holiday weekends, but everyone is really nice and welcoming.
Just a note - you may stumble on Totoket "campground" in North Branford while searching... this is really a mobile home park with some parking lot spots for campers. Gets okay marks for an overnight campground while traveling.
The Moodus / Haddam area (where Grandview is) is a beautiful area.