We booked a one night camel safari with Adventure Travel. They have been doing this safari for 33 years and are the number one rated on Tripadvisor. We did the trip with five germans who we met on the first day of arriving in Jaisalmer. Despite the insane heat it was a very memorable trip. We rode the camels for about three hours in total and slept on a sand dune under the open sky. Since it was dark moon we could even see stars with no light or noise pollution around us.
We would highly recommend this trip to anyone visiting Jaisalmer.