http://www.masonscampsite.co.uk/Welcome_.html probably about the best site near Skipton the dog will be fine (usual dog rules apply) i dont think theres swings etc but at 12 your daughter is probably beyond that.The river at the bottom of the site is lovely and safe for paddling etc except when we have floods - there are several stretches of the river where you can walk a decent distance on reasonably flat ground.
Both the village pubs have at the moment got good reputations this is the nearest
http://www.craven-cruckbarn.co.uk/ but you have to walk up a fairly steep hill to get too them from the campsite -shopping might be a problem Skipton has a new look but little else for a 12 year old - castle and barge trips is about it- There are plenty of waterfalls.
Given your legs cycling and shopping it might be better to head east from the dales where it is flatter -
http://camping.forestholidays.co.uk/cam ... shire.aspx Cropton forest is lovely you can book wildlife events at the centre - we did a bat walk with detectors etc we stayed in the chalets there but people from the camp site said it was lovely. nearby dalby forset has mountain bike routes in abundance, York is within easy travel distance as is the coast - Whitby is really nice and a must visit for any self respecting goth the sea-life centre at scarborough is handy for that inevitable cold wet day and there is plenty of surfing to be had in the north bay.The campsites on the coast tend to be noisy and full on entertaiment centres ok for the 12 year old but have all the extra pocket money to hand which is why being from yorkshire we tend to keep away from them.

castle howard (brideshead regurgitated) close by Helmsley museum of rural life interesting the only thing i cant think of is a waterfall but i,m sure there,ll be one. There is a steam railway at pickering which goes across to whitby for a leg stress free look at heartbeat
country and the moors.