Port Canaveral cruise terminal The Cove cafes.

The Cove is a nice spot with several waterfront restaurants near the Port Canaveral cruise terminals. It's lovely to stand over the water here in front of Grills Seafood Deck. This is one of the only places I've seen "almost blue-green" water in Brevard county. Usually the water is brown at the intracoastal. You can see turtles, dolphins, and pelicans, as you wait for your table. At Grills there is seating outside with live music sometimes. The seating inside has great views of the water too. We saw the Space X boat go by. A nice-looking restaurant is Seafood Atlantic, with outdoor seating at the water. Fishlips, despite its awful name, has a high balcony looking out on the water. Junkanoo Island Kitchen has Caribbean food and a great view through windows over the water! Rusty's Seafood Bar also has plenty of seating by the water. Gator's Dockside is a pretty spot with coconut trees. 

Exploration Tower (hours below) has architecture like Dubai! It's a great place to visit, with historical displays. Check out each floor especially the observation deck on the seventh floor. You can watch rocket launches here for a high fee.
After, play in the sand at Cherie Down Beach or check out the cool playground, sculptures, and coconut trees at Manatee Sanctuary Park.

Directions

The Cove restaurants are located at Port Canaveral, 520 Glen Cheek Dr, Cape Canaveral, FL 32920. There is free parking. 
Exploration tower is open daily 10-5. Admission is $6.50 for adults and $4 for kids, with discounts for Brevard county residents.

Click on map for interactive view