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For our son when we first started camping - he was two, we used a normal sleeping bag and folded it in half and tucked it under him. It was a double bonus as stopped him from getting cold from the ground! He also had a fleece blanket over him.

HTH  

We bought our 5 year old daughter an Urban Escape mummy sleeping bag from Halfords for £12. Fits the bill perfectly and she loves it. (Especially as its pink, but they also do them in blue!)

The trouble with using adult bags for small kids is that there's a lot of dead air space for one little body to warm up. Same with square ended bags. Small kids are warmest in junior sized mummy bags with hood and shoulder baffles, with a camping pillow tucked into the hood rather than a big house pillow spreading the neck of the bag open. Think cocoon! As they get older and bigger adult bags are a better buy.

My kids are both pretty tall and outgrew their Vango Nitestar Junior bags at about age seven at which point I bought them both adult sized mummy Nitestars. DS was quite chunky so no problem with the width of the bag but DD is a long skinny thing, so I put a fleece liner in the bag too so as to block off some of the dead air space. She didn't like that as it all tangled up so we ended up with her using a small fleece cot bed blanket inside the bag.

So for 3 year olds I'd bite the bullet and get them two decent mummy bags, such as the Nitestar Juniors or the Outwell bags. They certainly won't feel constricted in them and they'll be warmer than in adult bags by a long way.