Dungeon crawling has been the standard game structure for many roleplaying games for a long time. During this time people have presented all manners of preparing them from a series of randomly generated encounter tables for every room or corridor to entire algorithms that generate the dungeons and its mundane contents. Some game masters run them with the notes written near each room, others have a separate sheet of paper and a key to match descriptions to rooms, and some game masters are mad and ad hoc the whole thing. I have tried each of these methods with varying degrees of success, but I was never entirely satisfied with how they played out. I recently learned of tanglegrams which are like mindmaps that emphasise the relationship between people and things - you can read more about them in my original post here - and I believe they would work very well for helping your dungeons feel more interesting.