Kentucky has more navigible miles of waterway than any other state besides Alaska. There are fishing and camping spots all around Lexington.
Herrington Lake is 30-45 mintues south of Lex. I am not sure about camping in the area, butt the fishing is fun.
Boonesboro State Park, as mentioned above is a great place for the family as there the available activities are not limited to fishing and camping.
Elkhorn Creek is a scenic place to fish but can be hard to access if you do not have a boat or know the land owners in the area. The water is public access but the ground under the water is usually owned by the local landowners and the minute you touch bottom with any part of your body or boat, you are technically trespassing.
Jacobson Park - owned by the local and open to the public during daylight hours year round is fun for all, no camping.
All of the above are within 1 hour of Lex and there are many more not listed, Jack's Creek, Lake Mingo, the Dix River, Stoner Creek and many more.
Check this out, it even has a map:
http://www.goby.com/fishing-spots--near--lexington-ky
Also:
http://www.fishin.com/forums2/showthread.php?t=79813



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