Using somebody's open wifi signal is illegal, but rarely enforced or even discovered.
It is covered by most states by theft of services, computer trespass and various other laws.
Of course people will say they are being trespassed on by the signal entering their home/rv/space etc. This argument really holds no water.
It is not illegal to "listen" to radio broadcasts. The problem lies is when you enter that persons router and issue instructions to that router. That's where a computer trespass charge comes into play. When you use someone's internet connection that they pay for without their permission is where the theft of services comes into play. Just because technology has removed the wires its the same as running a wire over to your neighbors houses and using their electric or cable tv.
Nearly all ISPs have a term of service that restricts customers from having open wifi, just because you leave the door open is not an invitation for use or implied consent for use. Many people use the implied consent argument to justify stealing the service..
Because people have little knowledge on wifi and how it works they just jump onto any open wifi network, this led to people setting up honey pots. Many passwords are sent in the open. Sadly some banks send the initial user and password in the open before you get a secure connection.
Let's look at what might happen. You go online at a RV park you're staying at. You hook up to my router and I monitor traffic. I notice that you are going to Wachovia.com, but I don't see your password and user name. I then recreate an exact page (takes about 1/2 hour) that looks like wachovia and I forward you to that page next time your mac address requests Wachovia. com. You enter your user name and password on my page, I then have that logged and then redirect you to the real wachovia page, you think it's an error and redo it or I get real fancy and have my page enter your username and password, you then enter as normal.
Chances of this happening? Prettly slim, but growing.
Back in the day I used to work for a major electronics retailer. This was back in the day when you had limits on your AOL usage. One of the computer geeks one evening recreates a duplicate of the AOL sign in page and puts in on one of the stores computers. People would flock to that computer to get some free AOL time. Enter the user name and password hit enter and it would go to an error page. This guy had thousands of user names and passwords and he never paid for internet. Just because it's free, doesn't mean it's safe.
For an easy explanation.
http://www.dba-oracle.com/t_unauthorized_access_computer_network_crime.htm
Some laws by state.
http://www.ncsl.org/IssuesResearch/TelecommunicationsInformationTechnology/ComputerHackingandUnauthorizedAccessLaws/tabid/13494/Default.aspx