I don't know that to say. I'm totally sure that my iOS6b1 and iOS6b3 iCloud backups was restored on my iOS 5.1.1 on my iPad, whereas I only have succeeded to get the iOS6b1 installed on my iPhone. When the restoring process in iOS 5.1.1 starts using a iOS6 backup, it tells that some items couldn't be restored, but all the data used by iOS 5.1.1 seems to be working fine. I was running the iOS6b1 in one week with iCloud backup enabled, before I restored the iOS 5.1.1 before going on vacation. I didn't have any issues at the time and was using iOS 5.1.1 from the iOSb1 iCloud backup in two or three weeks before installing iOSb3. And as I said before, later today my iPad was running iOS6b3 where I create a new iCloud backup before restoring to iOS 5.1.1. When restoring I choose the newest iCloud backup which match the date and time and right now my iPad has finished restoring and all my apps, photo stream, mail account, messages, contacts etc. are exactly as before.
Before I installed the iOS beta I did some research about the iCloud backup, as I thought that could bring me some issues. I was told by other developers in my Twitter-network, that they didn't have any issues restoring a iOS beta iCloud backup in iOS 5 afterwards -- and because of this, I took the chance installing the beta. I did create a local backup using iTunes the first time i installed iOS6b1, but as every thing went well, I didn't see any point in doing this when installing the iOS6b3.
I know that it would be essential to have a device both for production/testing and one for private use, but as I'm only developing apps on a freelance basis as my second job I can not afford buying two devices. If you don't believe I'm a developer, please see this reference:
http://itunes.apple.com/app/musicupdates/id494309086?mt=8