Dartmouth has over 30 restaurants and 14 bars so you are really spoilt for choice. The Royal Castle Hotel, overlooking the inner harbour has a wonderful 1st floor restaurant. Food is also served in their two bars the Harbour Bar has a big screen and regular live music and The Galleon Bar has a more traditional feel and where your four legged friends are welcome.
The Tower Inn Slapton serves wonderful food but it is worth booking in advance. Separate lunch and dinner menus using local produce where possible serving mainly fish and game with a children's menu available. Dogs welcome.
Start Bay Inn, Torcross, is a family run business which specialises in locally caught fish. They have a family room and welcome children. Dogs are welcome on the sea front patio, they provide dog water bowls on request.
The Cherub Inn dates from 1380 and still retains many of its original features, including some old ships timbers and is the oldest building in Dartmouth. The Cherub offers an extensive menu, in it's restaurant and bar. Dogs welcome in the bar.
Details of other restaurants can be found by following the link here Eating out