Local's pickBoca Landing at Waterstone
Intracoastal-side dining on the Waterstone Resort deck, looking straight at the Boca Inlet bridge. Sunset drinks here are a rite of passage.
Boca's own coastline is mostly park and private, so the waterfront table you are picturing is usually on the Intracoastal — here and just up the coast.
The short answer
The best waterfront restaurants near Boca Raton are Boca Landing at Waterstone on the Intracoastal, Deck 84 in Delray Beach, Two Georges at Boynton Harbor Marina, and Guanabanas in Jupiter.
Local's pickIntracoastal-side dining on the Waterstone Resort deck, looking straight at the Boca Inlet bridge. Sunset drinks here are a rite of passage.
Local's pickBurt Rapoport's Intracoastal deck at the east end of Atlantic Avenue: dock-and-dine, fish tacos, frozen drinks and boat traffic all afternoon.
Local's pickAn open-air, tiki-roofed riverside restaurant built into the mangroves on the Intracoastal in Jupiter, with live music nightly and the best casual waterfront setting in the county.

A no-fuss marina restaurant at Boynton Harbor with dockside tables, fried grouper and a tiki bar. Come by boat if you can.