In reply to mike123:
Ah, good point. From that site to view the Tour you'd walk into Skipton, though it'd be a bit of a schlep with small kids. I've just looked on google maps to give you a link but it isn't very helpful if you put in 'Eastby' - essentially Eastby is just to the east of Embsay, which is 1 mile north of Skipton.
I think that with little ones, camping closer to/on the route, for instance at Addingham, Ilkley or Silsden, might be better.