American Heritage and Anvil Campground are both nice. Anvil is surprising in that the city has kinda grown up around it. It's small and feels like it's in the country, but it's a block from a "restaurant row" and about 2 miles or less from Williamsburg's historic district.
American Heritage is much bigger and a bit pricier perhaps, but again very nice - wonderful showers with complete privacy. However the Norfolk Southern main line to to the harbor runs within EASY hearing distance of this one - you'll hear the long coal trains running.
NN City is right off of I-64 and you might hear the traffic all night long unless you get one of the "WAY BACK" spaces.
It's more convenient to Yorktown than the other two, but not by much.