Yes there is an excellent place to stay just three minutes away. It faces the side of the cathedral baptistery and we stayed overnight there in June this year. It is called the palazzo magnifico and is a B and B with five double rooms. We had a superior room and it was 115euros with breakfast. The man Filippo was tremendous and we enjoyed our stay. He recommended the restaurant to us and we had our best meal in Italy there.
Hotel Athena is 5-10 min walk away and is only Hotel inside city walls with a car park. Stayed there and it's very nice will very helpful staff-I would highly recommend it.
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