Well, not being prone to insects has to do with how the tree is looked after as well as the species you have.
If the tree is healthy it will be more resistant to insect infestatios so, use organic fertilizers mulching techniques.
And as far as height restrictions are concerned; try looking at dwarf and semi-dwarf trees.
Some of the ornamental maples are nice, if you like fruit then apple, pear and cherry are nice. Oak are nice as well. Garry Oak will become gnarled and will give your yard a "rustic" look.