I too believe that it is important for a child to sleep in his own bed, but this is an ideal and not a hard and fast rule for me. My kids have done so much better getting over night time fears if they come into our bedroom for the night. The biggest problem with them climbing into our bed is that neither my husband or I sleep well with them there!!
OUR SOLUTION: keep a pillow and blanket or sleeping bag under or near your bed at night. Have your child help pick out what will be used and place it where it will be kept temporarily. Tell your child if he is frightened he may come sleep in your room on the floor.
I would also suggest moving him to a Toddler Bed unless the crib makes him feel more secure at night.