There are plenty of hotels at CDG, including one right in the middle of Terminal 2 (on top of the train station, between halls ABCD on one side and EF on the other), and a bunch at Roissypole, from where you can reach Terminals 1 and 2 via the free inter-terminal light rail line, and Terminal 3 by foot.
There are more hotels a bit further away. I believe they provide shuttle services to/from the terminals, but you would probably need to budget more time as you would have to wait for the shuttle. Ask reception for timetables.
If your flight in not early in the morning, you may consider staying in central Paris. Hotels will be more expensive, but you'll have quite a few more things to do and enjoy.
Or you can even consider staying in Reims (30 mn away by TGV, though the TGV stops outside the city centre, and there are only 4 trains a day, with schedules that are not always very practical). Or Disneyland Paris (10 mn away by TGV, with the stations right in the middle of Terminal 2 on one side, and right at the gate of the resort on the other).