In reply to Simon Pelly:
Hi Simon
Hound Tor is a personal favourite for climbing. Fun, easy trad and loads of bouldering. On a weekend, I have seen guide led groups set up topropes on the main routes which is a bit annoying - they're mostly very accommodating and will let you climb the routes if you ask.
Regarding camping, check this map out...
http://www.dartmoor.gov.uk/visiting/vi-enjoyingdartmoor/camping/camping-map
Also, most of the car parks have signs saying 'no overnight parking' - this refers to motorhomes and car campers though. If you're bivying/wild camping away from the car, you'll be fine. If you bump into a park ranger, let them know what you're doing and they'll keep and eye out for your car - last time we were there the rangers were super helpful.
Have fun!
Edit: You can find free pdf topos and other information on
http://www.southdevonmc.org.uk/devonclimbingPost edited at 17:02