Corrr! I went there the other week, it was awesometastic. There is a designated camping bit just by Goredale Scar (first photo on that link what you did), though i didn't see any toilets nearby...
Anyway, that place is a seriously nice place, and Malham's got a few pubs we could easily disgrace ourselves in. We went to The Tempest a few miles away for tea afterwards which was a cracking pub / retaurant too.