The municipal campsite (Roquefiguier) at Beaumes de Venise is simple but very pleasant. Within easy walking distance of the village centre, a short drive to the Dentelles and reasonable prices.
We usually go in low-season, and it's certainly quiet then, but I don't know what it's like in high summer.
It's worth noting that the gates are closed in the evening, so you need to arrive before reception closes (about 6pm) on your first day. After that you will have your own key, so can come and go as you please.