Shenendoah National Park has some options for primitive camping. posted by COD at 6:38 AM on April 25
It's not on the Chesapeake, but the Appalachian Trail is chock full of sites exactly like you describe. They're about as primitive as you can get without just hiking out into the woods at random. The Trail runs from Georgia to Maine, through Virginia, West Virginia, Maryland, and Pennsylvania, so there's definitely something within reasonable driving distance of you. posted by valkyryn at 8:55 AM on April 25
This government site has a good search function for campsites, and not just in parks. Lots of land belonging to the Army Corps of Engineers is available for camping at very low prices (~$10/night as opposed to $25/night). posted by The White Hat at 10:03 AM on April 25 [1 favorite has favorites]
False Cape State Park on the Virginia/NC border has portions that fit the bill. It's a Virginia State Park. posted by Phoenix42 at 12:48 PM on April 25
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posted by COD at 6:38 AM on April 25