Jensen Beach Park and Drift Kitchen

Jensen Beach Park is a popular beach because of its huge parking lot and facilities. It has many gazebos with picnic tables, and a pale blue and yellow cafe pavilion. Behind the cafe pavilion you can stand in the shade of a wooden structure, if you want to look at the beach without getting sunburned. There are also chairs with blue shade canopies to rent. Three lifeguards keep you safe. There are restrooms and showers. 

The sand is kind of dark but the water is a beautiful blue-green. Plenty of shells line the shore and you can have a ton of fun collecting them with your kids. 
A perfect way to end your outing is to have a meal at Drift Kitchen (in the Hutchinson Shores Resort), which has indoor and outdoor seating. The outdoor seating is fantastic, with breezes off the ocean and plenty of shade. Indoor, check out the beautiful ocean-themed chandelier in the lobby, and the teardrop-shaped lights in the fancy bathroom upstairs. I also love the glass globes in the restaurant's window that faces inside- they are filled with sand, driftwood, and shells. Their margherita pizza is delicious, as are the fish tacos and the southern-style chicken sandwich. The burger, short ribs, and shrimp tacos aren't as good. Check out also their bar with lovely seating over the beach. You can just walk to Drift Kitchen from the beach parking lot.
A smaller beach just down from this one is Bob Graham Beach.
At Christmastime, make sure you walk around the Christmas lights at Eustace Mansion. It's one of my best Christmas lights experiences ever!
A nice walk to do is the sidewalk along Highway A1A, admiring the mansions and landscaping. This is a three mile walk all the way to Stuart Beach! There is sidewalk on both sides, so you can choose the shadiest side depending on the time of day!
On your way back, check out the pelicans at Jensen Beach Causeway Park.

Directions

Jensen Beach Park is located at the eastern end of Causeway Blvd. There is plenty of free parking.

Click on map for interactive view