http://www.dogfriendly.com/server/travel/guides/us/us.shtml
The above is a link to pet friendly accomodations in the US and Canada. If you google 'pet friendly hotels' or 'dog friendly hotels' you can find more sites.
We travel alot and always take the dogs if it's possible. Some tips on a hassel-free journey are:
1.Keep your dogs as much as possible in their home routine:same food, sleep and walk schedule, and taking some water from home helps- water in different parts of the country can be foreign to a dog's taste and smell, so bringing about a gallon along to mix with new water helps in the transition.
2.Take vet records. Canada requires proof of rabies vaccine when you cross the border, and if there is a vet emergency it's good to have a record of shots, etc.
3.Have your first aid kit and the number of a local vet on hand. The first summer we had Minna(dachshund) we stayed at a cottage in the boonies in Canada. She was bitten by something and swelled up like a little brown football. It was a really severe reaction and the nearest vet was 40 miles away. Knowing before hand where the vet was located saved us time, and having benedryl on hand helped Minna til we could get her to the vet.
4.Lot's of restaurants have patios in the summer where well-behaved dogs are welcome- we've been able to eat out with the dogs more often than you would think.
We love traveling with Murray and Minna- they are real conversation starters- we've met lots of great people on our travels because of them.