Parking your Car at Denver International Airport is a Decision, You have options.
Expansive parking lots, secure surroundings, covered spaces, reasonable rates, all on government property, secured as a part of the AIRPORT. Parking at DIA is really good when compared with you mall in a busy town where you pay for parking. The rates may be a bit expensive for mall parking, but this is an airport. Compared to major international airport long term parking in the United States, DIA is the best I have ever seen...
Airport Long Term, close in, parking is located within a quarter mile walk of the terminals. The system at DIA puts these parking lots directly behind short term close in parking, and are the next most secure place, in my opinion, to park your car. These spaces are not covered, but the parking is roughly $10/day at press time. There is a premium paid for catching the bus, in the way of a tip, this makes the pricing rough, and at your discression.
Close in parking will cost you $3o a day, but you get to leave a nicer BMW, Mercedes, or AUDI amongst similar makes and models. The fact that the area is secured by multiple law enforcement agencies means security is inherent. The fact that the lot is monitored by Homeland Security makes the parking second to none. There is absolutely no reason for anyone to be hanging around, as the airport is in the middle of nowhere. Well worth the $30/day. You are literally parked less than 100 yards/meters from the elevator the gates (sixth floor), baggage claim (5th floor), or the security checkpoints (5th floor). At 4 dollars an hour this is where you park to pick up your family. Go inside, have a drink, a smoke in the lounge, and wait in comfort.
Long Term, plenty of long term, cheap parking is available at DIA. All these types of lots are still maintained by the city, but let's say clearing snow out there isn't the highest priority. If you flight is coming in at 10pm on a winter evening, best not to chance it. However, BUS service is routine and reliable, and the price is right. You are paying to make the better place by going with the city lot over the business, but you get what you pay for.
Off Site, parking lots at DIA numbered 5 last time I checked, but the numbers are growing quickly. Tower road, just north of Pena Boulevard has dueling parking lots on either side of the street, served by buses from the terminal every 5 minutes. Pick up the buses out of the North West Corner of the Airport for these guys. They start their wrap on the North East corner, and then take 20 minutes to drive around, collecting folks as they go. If the airport isn't too busy, count on being the last guy picked up and save yourself the time.