Creating simple city streets

I am trying to create an algorithm for creating a simple 2D city road system. Its not even going to be procedural, just confined to a small grid.

By simple, I mean something like this:

I have thought to just shoot random length lines from the edges but that doesn't give me the connected-ness look that I want.

I also tried randomly placing nodes and connecting them with L shaped lines but that didn't produce good results either.

Any links to resources, theory, or sample code would be highly appreciated!

P.S It can be in any language. I just need to know the concept behind this.