We develop a dynamical mean-field theory approach for the spiral magnetic order, changing to a local coordinate frame with preferable spin alignment along the $z$-axis, which can be considered with the impurity solvers treating the spin diagonal local Green's function. We furthermore solve the Bethe-Salpeter equations for nonuniform dynamic magnetic susceptibilities in the local coordinate frame. We apply this approach to describe the evolution of magnetic order with doping in the $t-t'$ Hubbard model with $t'=0.15$, which is appropriate for the description of the doped La$_2$CuO$_4$ high-temperature superconductor. We find that with doping the antiferromagnetic order changes to the $(Q,\pi)$ incommensurate one, and then to the paramagnetic phase. The spectral weight at the Fermi level is suppressed near half filling and continuously increases with doping. The dispersion of holes in the antiferromagnetic phase shows qualitative agreement with the results of the $t$-$J$ model consideration. In the incommensurate phase we find two branches of hole dispersions, one of which crosses the Fermi level. The resulting Fermi surface forms hole pockets. We also consider the dispersion of the magnetic excitations, obtained from the non-local dynamic magnetic susceptibilities. The transverse spin excitations are gapless, fulfilling the Goldstone theorem; in contrast to the mean-field approach the obtained magnetic state is found to be stable. The longitudinal excitations are characterized by a small gap, showing the rigidity of the spin excitations. For realistic hopping and interaction parameters we reproduce the experimentally measured spin-wave dispersion of La$_2$CuO$_4$.