We take our kids to restaurants everywhere and we have five of them. If you start them early and expect them to behave--don't just sit there when the run across the restaurant--you can do just about everything you did before kids, after them. I'm not saying you take them to the Prime Rib off the bat, but if you start with a place where there is some bar noise and get them used to the experience you'll be fine. We've left one restaurant in 15 years because of one of our kids, it that was when our first child was 1 and he was just too tired that night--our fault. One recent great experience with them (and another family of four) was Rocket to Venus. Great food and very easy with a group that included kids. Best part is they took reservations (an essential with a family of 7).

Bangkok Garden in Columbia has been very welcoming of small children and provides lots of practical help with toddlers, like bringing their food first and immediately providing them with beverages in paper cups with lids and straws.

We like to take the kids to Cafe Zen because it's loud enough that we don't feel like our kids are a nuisance, but not so loud that it's unbearable. The food also comes quickly and they have crayons and paper place mats with games printed on them.

We will take our kids just about any where BUT we make sure everyone is well rested enough to handle having to possibly wait for a table and then wait for the food. As a parent, you can recognize when your child is in no mood to go out even if your destination was a relatively loud chain restaurant like Friday's or Ruby Tuesday's. But lucky for everyone, if your destination was a chain, most have curb side to go and you can still enjoy a meal from the restaurant. When the kids are not in the mood, it just leads to an unpleasant experience for everyone involved. I'd rather do curb side than subject myself to the drama!!

Pizza Hut is always a good choice. Food is normally fast and they provide paper/crayons for the kids. Normally don't need to worry too much about them making messes either.

This place has been covered in pieces about kid friendly dining before, but I have to mention it again because it is just that awesome. Amer's Cafe on Bel Air Rd. just south of the beltway is GREAT. It is located in the strip center behind Carrabas. Kids make their own pizza. They have a special bar where the kids roll out the dough, then the cook throws it and returns it with sauce for the application of cheese. They host birthday parties and have a belly dancer on Friday nights who gives kiddie lessons. The food is great, I highly recommend their Babaganush and brick oven white pizza. You can even bring your own bottle of wine from the liquor store across the parking lot.
My kids really dig Pei Wei, the regular sized portion of honey seared chicken feeds a 2 and 6 year old.

Red Robin is a great kid place in the Towson area, if they are busy we usually head over to Pet Smart to see the kitties rather than wait in the lobby.

My kids are generally good in restraunts. There are places I wouldn't take them (The Melting Pot) but that is more because they wouldn't enjoy themselves rather than out of fear of their behavior.

We have had some great meals on the terrace at Donna's at Cross Keys...the kids can get up and run around, without bothering the other patrons.

Rocket to Venus wasn't such a good experience for us: they were incredulous that our preschooler didn't need a menu because he couldn't read yet, then he was served his beverage in a tall, tippy, breakable glass, they were kind of huffy about our seemlying minor requests to make things more kid-friendly (like no olives or green onions in the mac and cheese, no condiments on the sliders). The kids were perfectly behaved that evening, but we were made to feel unwelcome.

In general, we find that Asian, Italian, and Central American/Mexican restaurants (like all the ones in Little Italy and on Broadway in Fells Point) tend be friendly/indulgent to children, with lots of multi-generational groups of diners. Not to stereotype, but perhaps these restaurant owners are reflecting cultural backgrounds that places a high priority on family life?

Our daughter is about seven months now, but we've been taking her out since she was around a month. It can be stressful at times, but since there are two of us, one of us can always take her for a stroll or get her outside if she gets nutty. Mamie's Cafe with Love in Aberdeen is one of our favorite non-chains to take her to. We took her to Aquatica in Havre de Grace (it was our anniversary and we couldn't find a babysitter). We showed up at 5 pm and there wasn't really anyone there, so we could relax and enjoy ourselves without someone shooting us dirty looks because we dared to leave the house with our child. The owner has 5 or 6 kids so he was pretty sympathetic and extremely friendly.

Don't forget Spoons in Federal Hill! Owned by parents of little ones, they are child-friendly and even have a (very) small play space for kids and let you bring the toys to your table. The food there cannot be beat, and they have made significant eco-friendly changes becoming a greener restaurant.

I second the recommendation for Golden West - love it, as long as you get there before 9am on a Sunday (long wait, otherwise!). That place is so kid friendly they even have a full-sized furniture-style diaper changing table in the Men's (and W's) restrooms.

As much as I like the food at Cafe Hon, I have stopped referring anyone there that has kids. It is cramped for dining space, and you can totally forget about changing a diaper there unless you want to do it on the floor of the restroom, and even then people would have to step over you as they entered...

Another place that is fantastic for kids, even though it is not a locally owned small business is Red Robin. We have always had fantastic service there, excellent burgers, and it's extremely child friendly.