Yes camping in a tent is pretty safe.
Anything can happen but if you're out camping in the wilderness in a tent then it's unlikely you're gonna get robbed, murdered attacked etc.
Even getting attacked by animals in your tent when sleeping is very unlikely.
Also if you're tent camping in a state park then they usually have rangers that roam around and watch things.
So tent camping in a state park is even safer than tent camping just anywhere.
I've been tent camping for years and never have been harmed by humans or by animals.
If you can you might want to bring a gun just in case and you may need it for snakes.
But just be aware that some state parks may not allow guns.