J.L.
We actually just went for a nice little hike yesterday at Red Rock Canyon. It's near Highway 84 and 31st street towards Manitou. Nice vistas and there are three levels of trails depending on what you feel like doing and the trails are well maintained. While there we saw an Elk mama and her two babies as well as a coyote! It was astounding!
We also went to Barnes and Noble and picked up a book called "Best Easy Day Hikes - Colorado Springs" for $6 which has trails in the nearby plains and mountains.
Good Luck!