The off site lots are going to be your best value. This would include US Park on Middlebelt along with Quik Park and Airlines Parking on Merriman. Rates are $9-11 per day, but you can usually find coupons in the local coupon mailers or online. All will follow you to your car, shuttle you to the McNamara terminal and then pick you up at the same spot when you return. There can be a wait for a shuttle if you get back at a busy time, but it is usually not bad.

The McNamara deck itself is the most convenient, but also insanely expensive - $18 a day last I checked. Avoid the big blue deck - shuttle service was horrible last time I tried it, and I've heard the same report from others.