VA Cheap Accommodations?

[NEIL FROM BROOKLINE]

Hi everyone,
I am looking to take a family trip to VA the week before July 4.Our destinations are Charlottesville, Richmond, and Williamsburg.
I would like to find us the cheapest possible accommodations. It would be fine for us to stay near the destination communities as opposed to in them. The travelers include 2 young children so a safe environment and access to clean bathrooms is critical. We will be taking a dog so pet-friendly is also important. VA state parks charge about $25 for a tent site and $60 per night for a cabin. Are there cheaper options? Thanks!