Yes - the Robin Hood in Tring is good food and if you like proper beer it is a Fullers House. Also worth mentioning in Tring is the Kings Arms - a proper Free House with a selection of good beers from small brewers and all home cooked (sometimes slightly quirky) food. It is tucked away in the back streets but worth seeking out.
Skip Dunstable for decent pubs - not much near Whipsnade either.