I'd like to recommend the River Dart Country Park for camping.
River Dart Country Park - Camping & Touring
Although it's a big site when we went for a long weekend there was plenty of space, quite a few groups there, but it was a stunning place didn't feel crammed in like I felt with some C&CC sites.

It also has the adventure playground which you get access to, dogs are allowed and the facilities were really good. It's on a huge site, plenty of walks. River Dart runs through the site and is an integral part of adventure playground side with a big lake you can swim in.
I'd go back again like a shot.

Let me see if I can find some pics......