My children always ate out with us, whether that place be an upmarket michelin starred place or a greasy spoon.
Children are welcome everywhere in mainland Europe. Here in the UK they are often made to feel like lepers. I remember the god-awful 'children's room' in many cafes and pub dining rooms!
My children had impeccable manners, were expected to sit still for the duration of the meal. Exactly as they had to at home.
I'm with Bughut