It's right on the edge of the Dales, but I've stayed at
Dalesbridge a couple of times. It's got a large camping field, or a bunkhouse or B&B option. It wasn't expensive to camp, only £8 for the two of us. I see it's currently a staggering £4.50 each, and £3.00 per tent! Out of season I think it's much cheaper.
There's a real ale bar on site in the main building, although I haven't used it and can't speak for the atmosphere. Otherwise you're only a short walk from Austwick and the local pub/B&B/bar, or about 5 miles from Ingleton. Inglesport Café (over the shop) and Bernie's Caving Café in Ingleton are both good for breakfast.
It's a good base of operations for a walking weekend, but I can't vouch for how quiet or childfree it is during school hols.