If you wonder whether camping is possible in the Twin Cities, yes it is. In the wooded areas around the suburbs there are park reserves which have campsites and camper cabins. A few places to name are Three Rivers Park District, Baker Park Reserve, Elm Creek Park Reserve, Carver Park Reserve, Lake Elmo Park Reserve and Bunker Hills Regional Park.
William O’Brien State Park is nice for camping as it's set along the scenic St Croix River, though my favorite is Bunker Hills Regional Park because it offers fun options like horseback riding and golfing all within the park.
Wild River and William O'Brian state parks are nice camping areas not far from the twin cities of St Paul and Minneapolis. Three Rivers Park District has campgrounds right in the metro area, and the one at Carver Park Reserve is on a lake, close to Valleyfair.