Prepare as much as food as possible at home before you go. I know, I know, forethought and preparedness are not the Crappy Housewife way, but this is one instance where it's totally worth it. This year, I made our foil packet dinners ahead of time at home and froze them. My foil packet dinners involve raw chicken, which is a huge pain to clean up when you are camping and have to drive two miles to fetch water and heat it over the fire. I set up a little assembly line at home and assembled the packets in about half the time it would have taken on the camping trip, and the clean-up took about a quarter as long, what with the hot running water and all.
We go camping with a big group, so if each of us prepares two or three meals ahead of time, we have hearty, home-cooked meals for most of the trip, without a lot of on-site prep. Soups and stews are especially good make-ahead camping meals, because if you freeze them early enough, they will be solid bricks of ice and keep your cooler cold until you use them. I didn't even buy ice until after I thawed my stew on day three.
There are certain meals we always make when we go camping, because they freeze well, or require little to no fresh ingredients. Freeze ahead meals usually include: beef stew, vegetable potage, pulled pork, and foil packet dinners. Non-perishable meals for later in the trip usually include: spaghetti and chili. Sometimes I'll pick up some ground beef to add to the chili, otherwise, it's an all-canned recipe.
Another food work-saver we do when we go camping: Breakfast and lunch aren't fancy. Cold cereal, instant oatmeal, pop tarts, fruit, coffee, sandwiches, yogurt, granola bars. If you really want a hot breakfast, make sure to do it on an easy lunch/dinner day, or better yet, do breakfast for dinner one day.