I'm always camping when I'm out that way - usually backcountry, but I have spent a few nights at Deadhorse SP and also The Needles district in Canyonlands. Both are great campgrounds. I think I'd give the nod to Deadhorse. It's up high and provides access to some great views, though maybe a little exposed if it's windy. Water has to be trucked in, so no showers, but there is running water for sinks and toilets. I see that they've added yurts, which could be a decent compromise between a tent and a motel room.
I have looked into modest lodging in Moab when I've tried to plan a trip for some of my "less adventurous" family members. I can't provide first-hand feedback, but the offerings from Kokopelli Lodging
always seemed reasonable. They're not very fancy, and somewhat off the main drag, but that helps to keep them more affordable.
A few dustings of snow already in the CO high country, so plan accordingly.