You can find just about any type of accommodations in Cabo San Lucas [1], from simple and reasonably priced motels to boutique inns and luxury resorts. There are condos and villas for rent as well.
The one exception is camping [2], for which there are relatively limited options.
Most visitors prefer to stay at the beach, but the better values are downtown or on the outskirts of town, away from the water.
Links:
[1] http://www.moon.com/destinations/baja-cabo/cabo/los-cabos/cabo-san-lucas
[2] http://www.moon.com/destinations/baja-cabo/cabo/los-cabos/cabo-san-lucas/hotels-resorts-and-camping/camping-and-rv-parks