I stayed for two nights at the Hotel Lucas in the center of the old town (Alt Stadt). Since my wife and I have an 18 month old who sleeps better in his own room, I booked a spacious and very clean apartment/suite (room 1201) with living room, kitchen, and bedroom for $115 Euro/night (including tax and a great breakfast). Rick Steves recommended this newly remodeled hotel and he was right on. The room also had a small balcony overlooking the pleasant, tree-shaded canal that passes through the old town.
The only slight negative was the 3+ flight of stairs to walk up to get to the room which is actually right next to the main hotel in an apartment-type building, but the entire apartment appeared to be newly remodeled.
Breakfast was included and offered a generous portion of scrambled eggs and ham "cooked to order" not buffet style, fresh croissant, and choice of beverage to include coffe, tea, juice or a delicious cappaccino. The breakfast is served in the hotel's restaurant/bar/cafe which has a fresh, airy and modern look (also appeared newly remodeled). Although we only had breakfast there, I would guess that the other meals are good, too. The entire place had a young, hip feel to it with good service, too.
Parking is a slight pain since one is not permitted to even drive up to the hotel to unload bags, but there are several garages very close to the hotel just outside the pedestrian zone. The hotel will stamp your parking ticket to give you discount on the parking fees when you check-out.
When I come back to Nurnberg, I would stay here again without question and highly recommend it for families. From the hotel you are right in the center of the old town and can easily walk to everything. There are enough sites to fill two days at a liesurely pace.
This review is the subjective opinion of a TripAdvisor member and not of TripAdvisor LLC